无线手柄+步进电机——控制方向

今天测试了一下无线手柄控制电机转向的改变

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

   2: #include <Stepper.h>

   3:  

   4: #define PS2_DAT        13  //14    

   5: #define PS2_CMD        11  //15

   6: #define PS2_SEL        10  //16

   7: #define PS2_CLK        12  //17

   8:  

   9: #define pressures   true

  10: //#define pressures   false

  11: #define rumble      true

  12: //#define rumble      false

  13:  

  14: PS2X ps2x; // create PS2 Controller Class

  15:  

  16:  

  17: int error = 0;

  18: byte type = 0;

  19: byte vibrate = 0;

  20: int stepsPerRevolution = 200;

  21:  

  22: Stepper myStepper(stepsPerRevolution,9,7,8,6);

  23:  

  24: void setup(){

  25:  

  26:   myStepper.setSpeed(60);

  27:   Serial.begin(57600);

  28:   

  29:   delay(300);  //added delay to give wireless ps2 module some time to startup, before configuring it

  30:  

  31:   error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);

  32:   

  33:   if(error == 0){

  34:     Serial.print("Found Controller, configured successful ");

  35:     Serial.print("pressures = ");

  36:     if (pressures)

  37:       Serial.println("true ");

  38:     else

  39:       Serial.println("false");

  40:     Serial.print("rumble = ");

  41:     if (rumble)

  42:       Serial.println("true)");

  43:     else

  44:       Serial.println("false");

  45:   }  

  46:   else if(error == 1)

  47:     Serial.println("No controller found, check wiring, see readme.txt to enable debug. ");

  48:    

  49:   else if(error == 2)

  50:     Serial.println("Controller found but not accepting commands.");

  51:  

  52:   else if(error == 3)

  53:     Serial.println("Controller refusing to enter Pressures mode, may not support it. ");

  54:   

  55: }

  56:  

  57: void loop() {

  58:   if(error == 1) //skip loop if no controller found

  59:     return; 

  60:     

  61:   ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed

  62:     

  63:     if(ps2x.Button(PSB_START))         //will be TRUE as long as button is pressed

  64:       Serial.println("Start is being held");

  65:     if(ps2x.Button(PSB_SELECT))

  66:       Serial.println("Select is being held");      

  67:  

  68:     if(ps2x.Button(PSB_PAD_UP)) {      //will be TRUE as long as button is pressed

  69:       Serial.print("Up held this hard: ");

  70:       Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);

  71:     }

  72:     if(ps2x.Button(PSB_PAD_RIGHT)){

  73:       stepsPerRevolution = -200;

  74:       Serial.println("clockwise");

  75:     }

  76:     if(ps2x.Button(PSB_PAD_LEFT)){

  77:       stepsPerRevolution = 200;

  78:       Serial.println("counterclockwise"); 

  79:     }

  80:     if(ps2x.Button(PSB_PAD_DOWN)){

  81:       Serial.print("DOWN held this hard: ");

  82:       Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);

  83:     }   

  84:  

  85:     vibrate = ps2x.Analog(PSAB_CROSS);  //this will set the large motor vibrate speed based on how hard you press the blue (X) button

  86:     if (ps2x.NewButtonState()) {        //will be TRUE if any button changes state (on to off, or off to on)

  87:       if(ps2x.Button(PSB_L3))

  88:         Serial.println("L3 pressed");

  89:       if(ps2x.Button(PSB_R3))

  90:         Serial.println("R3 pressed");

  91:       if(ps2x.Button(PSB_L2))

  92:         Serial.println("L2 pressed");

  93:       if(ps2x.Button(PSB_R2))

  94:         Serial.println("R2 pressed");

  95:       if(ps2x.Button(PSB_TRIANGLE))

  96:         Serial.println("Triangle pressed");        

  97:     }

  98:  

  99:     if(ps2x.NewButtonState(PSB_CIRCLE))               //will be TRUE if button was JUST pressed

 100:       Serial.println("Circle just pressed");

 101:     if(ps2x.NewButtonState(PSB_CROSS))               //will be TRUE if button was JUST pressed OR released

 102:       Serial.println("X just changed");

 103:     if(ps2x.ButtonReleased(PSB_SQUARE))              //will be TRUE if button was JUST released

 104:       Serial.println("Square just released");     

 105:  

 106:     if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE

 107:       Serial.print("Stick Values:");

 108:       Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX  

 109:       Serial.print(",");

 110:       Serial.print(ps2x.Analog(PSS_LX), DEC); 

 111:       Serial.print(",");

 112:       Serial.print(ps2x.Analog(PSS_RY), DEC); 

 113:       Serial.print(",");

 114:       Serial.println(ps2x.Analog(PSS_RX), DEC); 

 115:     } 

 116:     

 117:   myStepper.step(stepsPerRevolution);  

 118: }

 

当没有加入电机的代码的时候手柄的反应很快，能马上识别按钮，但是当我加入

   1: myStepper.step(stepsPerRevolution); 

以后，必须长按按钮才能改变方向，这个要好好研究一下

 

另外，当我打开串口监视器时电机才转，搞不清为什么，不知道如果用电池给Arduino供电时会出现什么情况。