前言

本文利用PS2手柄和Arduino开发板制作了一个简易的遥控小车，利用蓝牙进行通信，可以实现前后左右的移动。（原理掌握之后可以自己拓展相关功能）

一、零件

1.Arduino UNO开发板：

ArduinoUNO是ArduinoUSB接口系列的最新版本，作为Arduino平台的参考标准模板。UNO的处理器核心是ATmega328，同时具有14路数字输入/输出口（其中6路可作为PWM输出），6路模拟输入，一个16MHz晶体振荡器，一个USB口，一个电源插座，一个ICSPheader和一个复位按钮。

2.PS2手柄与接收器：

PS2 手柄由手柄与接收器两部分组成，手柄主要负责发送按键信息；接收器与单片机相连，用于接收手柄发来的信息，并传递给单片机，单片机也可通过接收器，向手柄发送命令，配置手柄的发送模式。

接收器的引脚功能如下图所示：

特别需要提醒的是：按下遥控器的 MODE 键，手柄可配置成“红灯模式”或者“绿灯模式”，当遥控器侧面的 “MODE LED”亮为红灯模式，反之为绿灯模式，“红灯模式”和“绿灯模式”的主要区别是摇杆模拟值得输出。

3.L298N驱动模块：

L298N，是一款接受高电压的电机驱动器，直流电机和步进电机都可以驱动。一片驱动芯片可同时控制两个直流减速电机做不同动作，在6V到46V的电压范围内，提供2安培的电流，并且具有过热自断和反馈检测功能。L298N可对电机进行直接控制，通过主控芯片的I/O输入对其控制电平进行设定，就可为电机进行正转反转驱动，操作简单、稳定性好，可以满足直流电机的大电流驱动条件。

4.面包板

面包板是由于板子上有很多小插孔，专为电子电路的无焊接实验设计制造的。由于各种电子元器件可根据需要随意插入或拔出，免去了焊接，节省了电路的组装时间，而且元件可以重复使用，所以非常适合电子电路的组装、调试和训练。

5.小车

由亚克力板、直流电机、小轮胎、电池盒、电池等搭建的小车。

二、代码

#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);  
}//停止函数

void RUN(){ 
  digitalWrite(input1,HIGH); 
  digitalWrite(input2,LOW); 
  digitalWrite(input3,LOW);
  digitalWrite(input4,HIGH); 
 analogWrite(input1,250);
 analogWrite(input4,250);
}//可调速的前进函数

void LEFT(){ 
  digitalWrite(input1,HIGH); 
  digitalWrite(input2,LOW);  
  digitalWrite(input3,HIGH); 
  digitalWrite(input4,LOW); 
 analogWrite(input1,200);
 analogWrite(input3,200);
}//可调速的左转函数

void RIGHT(){ 
  digitalWrite(input1,LOW);
  digitalWrite(input2,HIGH);  
  digitalWrite(input3,LOW);
  digitalWrite(input4,HIGH); 
 analogWrite(input2,200);
 analogWrite(input4,200);
}//可调速的右转函数

void BACK(){ 
  digitalWrite(input1,LOW); 
  digitalWrite(input2,HIGH); 
  digitalWrite(input3,HIGH);
  digitalWrite(input4,LOW); 
 analogWrite(input2,250);
 analogWrite(input3,250);
}//可调速的后退函数
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);  
}