Arduino 로봇(PS2 컨트롤러 포함)(PlayStation 2 조이스틱)

9단계:스케치 #4 - 왼쪽 아날로그 스틱만

이 마지막 Sketch 앱에서는 단일 조이스틱을 사용하여 로봇을 제어했습니다. 리소스 사용 측면에서 최적이지만(다양한 작업을 구성할 수 있는 많은 버튼이 남아 있음) 이해하기가 상당히 어렵습니다.

각 트랙의 속도는 조이스틱의 x 및 y 위치에 따라 정의됩니다. 이런 식으로 각 트랙에 다른 속도를 적용하고 다른 속도/방향으로 로봇을 움직일 수 있습니다. 여기에 사용된 코드는 다음 자습서에서 파생되었습니다. 확인해 보세요!

https://www.impulseadventure.com/elec/robot-differential-steering.html

10단계:최종 고려 사항

나는 이 프로젝트를 가능한 한 명확하고 교육적으로 만들기 위해 많은 노력을 기울였습니다. 도움이 되셨다면 '좋아요'와 '공유'도 잊지 마세요. 당신의 지원은 나에게 매우 중요합니다! :D

여전히 내 튜토리얼을 따르지 않는다면 로봇에 대한 다른 튜토리얼을 살펴보십시오! 마음에 드셨으면 좋겠습니다!

https://www.hackster.io/igorF2/joy-robot-robo-da-alegria-bba54f

https://www.hackster.io/igorF2/widc-wi-fi-controlled-fpv-robot-8f1e09

https://www.hackster.io/igorF2/nunchuk-controlled-robotic-arm-with-arduino-b1c0fa

https://www.hackster.io/igorF2/wi-fi-browser-controlled-robotic-arm-89b63d

작은 비트코인 ​​기부로 내 미래 프로젝트를 지원하는 것을 고려해 주세요! :D

BTC 입금 주소:1FiWFYSjRaL7sLdr5wr6h86QkMA6pQxkXJ

코드

스케치 #1Arduino

// Igor Fonseca의 PS2 Tank @2019// D-패드 버튼을 사용하여 PS2 조이스틱을 사용하여 로봇 탱크를 제어합니다.// Bill Porter 2011의 PS2X 라이브러리를 사용하는 예를 기반으로 합니다.// 위의 모든 텍스트가 포함되어야 합니다. 모든 재배포에서.// 라이브러리 포함#include // 브리지 드라이버의 방향을 설정하는 데 사용됩니다.#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4 #define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBPS2X ps2x; // PS2 컨트롤러 클래스 생성//지금 라이브러리는 핫 플러그형 컨트롤러를 지원하지 않습니다. 즉, //컨트롤러를 연결한 후에는 항상 Arduino를 다시 시작하거나 // 컨트롤러를 연결한 후 config_gamepad(pins)를 다시 호출해야 합니다. 정수 오류 =0; byte type =0;byte vibrate =0;void setup(){ // 출력 핀 구성 pinMode(ENA, OUTPUT); 핀모드(MOTORA_1, 출력); 핀모드(MOTORA_2, 출력); 핀모드(ENB, 출력); 핀모드(MOTORB_1, 출력); 핀모드(MOTORB_2, 출력); // 두 모터 모두 비활성화 digitalWrite(ENA,0); 디지털 쓰기(ENB,0); // 시리얼 통신 시작 Serial.begin(57600); 오류 =ps2x.config_gamepad(13,11,10,12, 참, 참); // 핀 및 설정 설정:GamePad(clock, command, Attention, data, Pressures?, Rumble?) 오류 확인 // 오류 확인 if(error ==0){ Serial.println("컨트롤러 발견, 구성 성공" ); } else if(error ==1) Serial.println("컨트롤러를 찾을 수 없습니다. 배선을 확인하거나 Arduino를 재설정하십시오."); else if(error ==2) Serial.println("컨트롤러를 찾았지만 명령을 수락하지 않습니다."); else if(error ==3) Serial.println("컨트롤러가 압력 모드 진입을 거부하고 있습니다. 지원하지 않을 수 있습니다."); // 컨트롤러 유형 확인 type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type"); 부서지다; case 1:Serial.println("DualShock Controller Found"); 부서지다; case 2:Serial.println("GuitarHero Controller Found"); 부서지다; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller // Perform movements based on D-pad buttons // MOVE FORWARD if(ps2x.Button(PSB_PAD_UP)) { digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Move forward"); } // TURN RIGHT if(ps2x.Button(PSB_PAD_RIGHT)){ digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Turn right"); } // TURN LEFT if(ps2x.Button(PSB_PAD_LEFT)){ digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Turn left"); } // MOVE BACK if(ps2x.Button(PSB_PAD_DOWN)){ digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENB, 1023); analogWrite(ENA, 1023); Serial.println("Move back"); } if (!ps2x.Button(PSB_PAD_DOWN) &&!ps2x.Button(PSB_PAD_UP) &&!ps2x.Button(PSB_PAD_RIGHT) &&!ps2x.Button(PSB_PAD_LEFT)) { analogWrite(ENB, 0); analogWrite(ENA, 0); } 지연(50); } }

Sketch #2Arduino

// PS2 Tank by Igor Fonseca @2019// Controls a robotic tank using a PS2 joystick, using D-pad buttons// based on an example using the PS2X library by Bill Porter 2011// All text above must be included in any redistribution.// include libraries#include // These are used to set the direction of the bridge driver.#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4#define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBint motor_right_speed =0;int motor_left_speed =0;PS2X ps2x; // create PS2 Controller Class//right now, the library does NOT support hot pluggable controllers, meaning //you must always either restart your Arduino after you conect the controller, //or call config_gamepad(pins) again after connecting the controller.int error =0; byte type =0;byte vibrate =0;void setup(){ // Configure output pins pinMode(ENA, OUTPUT); pinMode(MOTORA_1, OUTPUT); pinMode(MOTORA_2, OUTPUT); pinMode(ENB, OUTPUT); pinMode(MOTORB_1, OUTPUT); pinMode(MOTORB_2, OUTPUT); // Disable both motors digitalWrite(ENA,0); digitalWrite(ENB,0); // Start serial communication Serial.begin(57600); error =ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings:GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error // Check for error if(error ==0){ Serial.println("Found Controller, configured successful"); } else if(error ==1) Serial.println("No controller found, check wiring or reset the Arduino"); else if(error ==2) Serial.println("Controller found but not accepting commands"); else if(error ==3) Serial.println("Controller refusing to enter Pressures mode, may not support it."); // Check for the type of controller type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type"); 부서지다; case 1:Serial.println("DualShock Controller Found"); 부서지다; case 2:Serial.println("GuitarHero Controller Found"); 부서지다; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller int nJoyL =ps2x.Analog(PSS_LX); // read left stick nJoyL =map(nJoyL, 0, 255, 1023, -1023); int motor_right_speed =1023; int motor_left_speed =1023; if (nJoyL <0) { motor_right_speed =motor_right_speed + nJoyL; } if (nJoyL> 0) { motor_left_speed =motor_left_speed - nJoyL; } if(ps2x.Button(PSB_R2)) { digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENA, motor_right_speed); analogWrite(ENB, motor_left_speed); } if(ps2x.Button(PSB_L2)) { digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENA, motor_right_speed); analogWrite(ENB, motor_left_speed); } if(!ps2x.Button(PSB_L2) &&!ps2x.Button(PSB_R2)) { analogWrite(ENA, 0); analogWrite(ENB, 0); } 지연(50); } }

Sketch #3Arduino

// PS2 Tank by Igor Fonseca @2019// Controls a robotic tank using a PS2 joystick, using D-pad buttons// based on an example using the PS2X library by Bill Porter 2011// All text above must be included in any redistribution.// include libraries#include // These are used to set the direction of the bridge driver.#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4#define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBPS2X ps2x; // create PS2 Controller Class//right now, the library does NOT support hot pluggable controllers, meaning //you must always either restart your Arduino after you conect the controller, //or call config_gamepad(pins) again after connecting the controller.int error =0; byte type =0;byte vibrate =0;void setup(){ // Configure output pins pinMode(ENA, OUTPUT); pinMode(MOTORA_1, OUTPUT); pinMode(MOTORA_2, OUTPUT); pinMode(ENB, OUTPUT); pinMode(MOTORB_1, OUTPUT); pinMode(MOTORB_2, OUTPUT); // Disable both motors digitalWrite(ENA,0); digitalWrite(ENB,0); // Start serial communication Serial.begin(57600); error =ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings:GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error // Check for error if(error ==0){ Serial.println("Found Controller, configured successful"); } else if(error ==1) Serial.println("No controller found, check wiring or reset the Arduino"); else if(error ==2) Serial.println("Controller found but not accepting commands"); else if(error ==3) Serial.println("Controller refusing to enter Pressures mode, may not support it."); // Check for the type of controller type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type"); 부서지다; case 1:Serial.println("DualShock Controller Found"); 부서지다; case 2:Serial.println("GuitarHero Controller Found"); 부서지다; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller int nJoyL =ps2x.Analog(PSS_LY); // read left stick int nJoyR =ps2x.Analog(PSS_RY); // read right stick nJoyL =map(nJoyL, 0, 255, 1023, -1023); nJoyR =map(nJoyR, 0, 255, -1023, 1023); // Perform movements based on both analog sticks if(nJoyR>50) { digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); analogWrite(ENA, 1023); } if(nJoyR<-50) { digitalWrite(MOTORA_1,LOW); digitalWrite(MOTORA_2,HIGH); analogWrite(ENA, 1023); } if (abs(nJoyR)<50) { analogWrite(ENA, 0); } if(nJoyL>50) { digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); analogWrite(ENB, 1023); } if(nJoyL<-50) { digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2,HIGH); analogWrite(ENB, 1023); } if (abs(nJoyL)<50) { analogWrite(ENB, 0); } 지연(50); } }

Sketch #4Arduino

// PS2 Tank by Igor Fonseca @2019// Controls a robotic tank using a PS2 joystick, using left analog stick// based on an example using the PS2X library by Bill Porter 2011// All text above must be included in any redistribution.// include libraries#include  //for v1.6// These are used to set the direction of the bridge driver.#define ENA 3 //ENA#define MOTORA_1 4 //IN3#define MOTORA_2 5 //IN4#define MOTORB_1 8 //IN1#define MOTORB_2 7 //IN2#define ENB 6 //ENBint motor_right_speed =0;int motor_left_speed =0;PS2X ps2x; // create PS2 Controller Class//right now, the library does NOT support hot pluggable controllers, meaning //you must always either restart your Arduino after you conect the controller, //or call config_gamepad(pins) again after connecting the controller.int error =0; byte type =0;byte vibrate =0;void setup(){ // Configure output pins pinMode(ENA, OUTPUT); pinMode(MOTORA_1, OUTPUT); pinMode(MOTORA_2, OUTPUT); pinMode(ENB, OUTPUT); pinMode(MOTORB_1, OUTPUT); pinMode(MOTORB_2, OUTPUT); // Disable both motors digitalWrite(ENA,0); digitalWrite(ENB,0); // Start serial communication Serial.begin(57600); error =ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings:GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error // Check for error if(error ==0){ Serial.println("Found Controller, configured successful"); } else if(error ==1) Serial.println("No controller found, check wiring or reset the Arduino"); else if(error ==2) Serial.println("Controller found but not accepting commands"); else if(error ==3) Serial.println("Controller refusing to enter Pressures mode, may not support it."); // Check for the type of controller type =ps2x.readType(); switch(type) { case 0:Serial.println("Unknown Controller type"); 부서지다; case 1:Serial.println("DualShock Controller Found"); 부서지다; case 2:Serial.println("GuitarHero Controller Found"); 부서지다; }}// Main loopvoid loop(){ if(error ==1) //skip loop if no controller found return; else { //DualShock Controller ps2x.read_gamepad(false, vibrate); // disable vibration of the controller int nJoyX =ps2x.Analog(PSS_LX); // read x-joystick int nJoyY =ps2x.Analog(PSS_LY); // read y-joystick nJoyX =map(nJoyX, 0, 255, -1023, 1023); nJoyY =map(nJoyY, 0, 255, 1023, -1023); // OUTPUTS int nMotMixL; // Motor (left) mixed output int nMotMixR; // Motor (right) mixed output // CONFIG // - fPivYLimt :The threshold at which the pivot action starts // This threshold is measured in units on the Y-axis // away from the X-axis (Y=0). A greater value will assign // more of the joystick's range to pivot actions. // Allowable range:(0..+127) float fPivYLimit =1023.0; // TEMP VARIABLES float nMotPremixL; // Motor (left) premixed output float nMotPremixR; // Motor (right) premixed output int nPivSpeed; // Pivot Speed float fPivScale; // Balance scale between drive and pivot // Calculate Drive Turn output due to Joystick X input if (nJoyY>=0) { // Forward nMotPremixL =(nJoyX>=0)? 1023.0 :(1023.0 + nJoyX); nMotPremixR =(nJoyX>=0)? (1023.0 - nJoyX) :1023.0; } else { // Reverse nMotPremixL =(nJoyX>=0)? (1023.0 - nJoyX) :1023.0; nMotPremixR =(nJoyX>=0)? 1023.0 :(1023.0 + nJoyX); } // Scale Drive output due to Joystick Y input (throttle) nMotPremixL =nMotPremixL * nJoyY/1023.0; nMotPremixR =nMotPremixR * nJoyY/1023.0; // Now calculate pivot amount // - Strength of pivot (nPivSpeed) based on Joystick X input // - Blending of pivot vs drive (fPivScale) based on Joystick Y input nPivSpeed =nJoyX; fPivScale =(abs(nJoyY)>fPivYLimit)? 0.0 :(1.0 - abs(nJoyY)/fPivYLimit); // Calculate final mix of Drive and Pivot nMotMixL =(1.0-fPivScale)*nMotPremixL + fPivScale*( nPivSpeed); nMotMixR =(1.0-fPivScale)*nMotPremixR + fPivScale*(-nPivSpeed); motor_left_speed =nMotMixL; motor_right_speed =nMotMixR; if (motor_right_speed> 50) { digitalWrite(MOTORB_1,HIGH); digitalWrite(MOTORB_2,LOW); } else if (motor_right_speed <-50) { digitalWrite(MOTORB_1,LOW); digitalWrite(MOTORB_2, HIGH); } else { digitalWrite(MOTORB_1, LOW); digitalWrite(MOTORB_2, LOW); } if (motor_left_speed> 50) { digitalWrite(MOTORA_1, LOW); digitalWrite(MOTORA_2, HIGH); } else if (motor_left_speed <-50) { digitalWrite(MOTORA_1,HIGH); digitalWrite(MOTORA_2,LOW); } else { digitalWrite(MOTORA_1, LOW); digitalWrite(MOTORA_2, LOW); } analogWrite(ENA, abs(motor_left_speed)); analogWrite(ENB, abs(motor_right_speed)); if (abs(motor_left_speed> 50) || abs(motor_left_speed> 50)) { Serial.println("Moving!"); } 지연(50); } }

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