前言

本文利用PS2手柄和Arduino開發板制作了一個簡易的遙控小車，利用藍牙進行通信，可以實作前后左右的移動，（原理掌握之后可以自己拓展相關功能）

一、零件

1.Arduino UNO開發板：

ArduinoUNO是ArduinoUSB介面系列的最新版本，作為Arduino平臺的參考標準模板，UNO的處理器核心是ATmega328，同時具有14路數字輸入/輸出口（其中6路可作為PWM輸出），6路模擬輸入，一個16MHz晶體振蕩器，一個USB口，一個電源插座，一個ICSPheader和一個復位按鈕，

2.PS2手柄與接收器：

PS2 手柄由手柄與接收器兩部分組成，手柄主要負責發送按鍵資訊；接收器與單片機相連，用于接收手柄發來的資訊，并傳遞給單片機，單片機也可通過接收器，向手柄發送命令，配置手柄的發送模式，

接收器的引腳功能如下圖所示：

特別需要提醒的是：按下遙控器的 MODE 鍵，手柄可配置成“紅燈模式”或者“綠燈模式”，當遙控器側面的 “MODE LED”亮為紅燈模式，反之為綠燈模式，“紅燈模式”和“綠燈模式”的主要區別是搖桿模擬值得輸出，

3.L298N驅動模塊：

L298N，是一款接受高電壓的電機驅動器，直流電機和步進電機都可以驅動，一片驅動芯片可同時控制兩個直流減速電機做不同動作，在6V到46V的電壓范圍內，提供2安培的電流，并且具有過熱自斷和反饋檢測功能，L298N可對電機進行直接控制，通過主控芯片的I/O輸入對其控制電平進行設定，就可為電機進行正轉反轉驅動，操作簡單、穩定性好，可以滿足直流電機的大電流驅動條件，

4.面包板

面包板是由于板子上有很多小插孔，專為電子電路的無焊接實驗設計制造的，由于各種電子元器件可根據需要隨意插入或拔出，免去了焊接，節省了電路的組裝時間，而且元件可以重復使用，所以非常適合電子電路的組裝、除錯和訓練，

5.小車

由亞克力板、直流電機、小輪胎、電池盒、電池等搭建的小車，

二、代碼

#include <PS2X_lib.h>  //for v1.6

#define PS2_DAT        13  //14    
#define PS2_CMD        11  //15
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17

int input1 = 5; //PIN 5(PWM)
int input2 = 6; //PIN 6(PWM)
int input3 = 9; //PIN 9(PWM)
int input4 = 3; //PIN 3(PWM)

#define pressures   true
#define rumble      true

PS2X ps2x; // create PS2 Controller Class

int error = 0;
byte type = 0;
byte vibrate = 0;

// Reset func 
void (* resetFunc) (void) = 0;

void setup(){
 
  Serial.begin(9600);
  
  delay(500);  //added delay to give wireless ps2 module some time to startup, before configuring it
   
  error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
  
  if(error == 0){
    Serial.print("Found Controller, configured successful ");
    Serial.print("pressures = ");
	if (pressures)
	  Serial.println("true ");
	else
	  Serial.println("false");
	Serial.print("rumble = ");
	if (rumble)
	  Serial.println("true)");
	else
	  Serial.println("false");
    Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
    Serial.println("holding L1 or R1 will print out the analog stick values.");
    Serial.println("Note: Go to www.billporter.info for updates and to report bugs.");
  }  
  else if(error == 1)
    Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
   
  else if(error == 2)
    Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");

  else if(error == 3)
    Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
  
  type = ps2x.readType(); 
  switch(type) {
    case 0:
      Serial.println("Unknown Controller type found ");
      break;
    case 1:
      Serial.println("DualShock Controller found ");
      break;
    case 2:
      Serial.println("GuitarHero Controller found ");
      break;
	case 3:
      Serial.println("Wireless Sony DualShock Controller found ");
      break;
   }
pinMode(input1,OUTPUT);
pinMode(input2,OUTPUT);                                                    
pinMode(input3,OUTPUT); 
pinMode(input4,OUTPUT);
}


void STOP(){
 digitalWrite(input1,LOW);
 digitalWrite(input2,LOW);  
 digitalWrite(input3,LOW);
 digitalWrite(input4,LOW);  
}//停止函式

void RUN(){
  digitalWrite(input1,HIGH); 
  digitalWrite(input2,LOW); 
  digitalWrite(input3,LOW);
  digitalWrite(input4,HIGH); 
 analogWrite(input1,250);
 analogWrite(input4,250);
}//可調速的前進函式

void LEFT(){
  digitalWrite(input1,HIGH); 
  digitalWrite(input2,LOW);  
  digitalWrite(input3,HIGH); 
  digitalWrite(input4,LOW); 
 analogWrite(input1,200);
 analogWrite(input3,200);
}//可調速的左轉函式

void RIGHT(){
  digitalWrite(input1,LOW);
  digitalWrite(input2,HIGH);  
  digitalWrite(input3,LOW);
  digitalWrite(input4,HIGH); 
 analogWrite(input2,200);
 analogWrite(input4,200);
}//可調速的右轉函式

void BACK(){
  digitalWrite(input1,LOW); 
  digitalWrite(input2,HIGH); 
  digitalWrite(input3,HIGH);
  digitalWrite(input4,LOW); 
 analogWrite(input2,250);
 analogWrite(input3,250);
}//可調速的后退函式
void loop() {
  
  if(error == 1){ //skip loop if no controller found
    resetFunc();
  }
  
  if(type == 2){ //Guitar Hero Controller
    ps2x.read_gamepad();          //read controller 
   
    if(ps2x.ButtonPressed(GREEN_FRET))
      Serial.println("Green Fret Pressed");
    if(ps2x.ButtonPressed(RED_FRET))
      Serial.println("Red Fret Pressed");
    if(ps2x.ButtonPressed(YELLOW_FRET))
      Serial.println("Yellow Fret Pressed");
    if(ps2x.ButtonPressed(BLUE_FRET))
      Serial.println("Blue Fret Pressed");
    if(ps2x.ButtonPressed(ORANGE_FRET))
      Serial.println("Orange Fret Pressed"); 

    if(ps2x.ButtonPressed(STAR_POWER))
      Serial.println("Star Power Command");
    
    if(ps2x.Button(UP_STRUM))          //will be TRUE as long as button is pressed
      Serial.println("Up Strum");
    if(ps2x.Button(DOWN_STRUM))
      Serial.println("DOWN Strum");
 
    if(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressed
      Serial.println("Start is being held");
    if(ps2x.Button(PSB_SELECT))
      Serial.println("Select is being held");
    
    if(ps2x.Button(ORANGE_FRET)) {     // print stick value IF TRUE
      Serial.print("Wammy Bar Position:");
      Serial.println(ps2x.Analog(WHAMMY_BAR), DEC); 
    } 
  }
  else { //DualShock Controller
    ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
    
    if(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressed
      Serial.println("Start is being held");
    if(ps2x.Button(PSB_SELECT))
      Serial.println("Select is being held");      

    if(ps2x.Button(PSB_PAD_UP)) {      //will be TRUE as long as button is pressed
      Serial.print("Up held this hard: ");
      RUN();
      Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
    }
    if(ps2x.Button(PSB_PAD_RIGHT)){
      Serial.print("Right held this hard: ");
      LEFT();
      Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
    }
    if(ps2x.Button(PSB_PAD_LEFT)){
      Serial.print("LEFT held this hard: ");
      RIGHT();
      Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
    }
    if(ps2x.Button(PSB_PAD_DOWN)){
      Serial.print("DOWN held this hard: ");
      BACK();
      Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
    }   

    vibrate = ps2x.Analog(PSAB_CROSS);  //this will set the large motor vibrate speed based on how hard you press the blue (X) button
    if (ps2x.NewButtonState()) {        //will be TRUE if any button changes state (on to off, or off to on)
      if(ps2x.Button(PSB_L3))
        Serial.println("L3 pressed");
      if(ps2x.Button(PSB_R3))
        Serial.println("R3 pressed");
      if(ps2x.Button(PSB_L2))
        Serial.println("L2 pressed");
      if(ps2x.Button(PSB_R2))
        Serial.println("R2 pressed");
      if(ps2x.Button(PSB_TRIANGLE))
        Serial.println("Triangle pressed");   
        STOP();      
    }

    if(ps2x.ButtonPressed(PSB_CIRCLE))               //will be TRUE if button was JUST pressed
      Serial.println("Circle just pressed");
    if(ps2x.NewButtonState(PSB_CROSS))               //will be TRUE if button was JUST pressed OR released
      Serial.println("X just changed");
    if(ps2x.ButtonReleased(PSB_SQUARE))              //will be TRUE if button was JUST released
      Serial.println("Square just released");     

    if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE
      Serial.print("Stick Values:");
      Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX  
      Serial.print(",");
      Serial.print(ps2x.Analog(PSS_LX), DEC); 
      Serial.print(",");
      Serial.print(ps2x.Analog(PSS_RY), DEC); 
      Serial.print(",");
      Serial.println(ps2x.Analog(PSS_RX), DEC); 
    }     
  }
  delay(50);  
}