“109010019 舵机转向小车套件”的版本间的差异

2021年8月16日 (一) 14:40的版本

发货清单

舵机小车套装配件清单，核对清单检查物品数量和认识具体的型号参数。

舵机小车套装物料清单

规格书

舵机小车套装基础尺寸和详细的运行参数。

舵机小车套装规格书

舵机小车手册

舵机小车安装手册。

舵机转向小车手册

示例代码

/*

 舵机转向小车PS2控制

 控制方式：左摇杆控制小车的前进后退（前后有效）,右摇杆控制方向（左右有效）；
 控制均为比例控制,遥感倾斜度越大,速度/角度越大;按键部分同理.

 手柄前端L1,L2调节舵机的居中角度位置,每次增加减小1度,右侧R1,R2调节电机速度.

 YFROBOT-WST
 WWW.YFROBOT.COM.CN
 09/19/2020

• /

/******************************************

  导入必须的库文件
*****************************************/

1. include <Servo.h> //舵机库,软件自带
2. include "PS2X_lib.h" //PS2手柄库,同程序文件夹

PS2X ps2x; Servo myservo;

/******************************************

  PS2手柄引脚设置端口，如需改动请保持软硬件同步
  电机驱动端口设置；舵机端口设置
*****************************************/

1. define PS2_DAT A4
2. define PS2_CMD A0 //PS2 pin
3. define PS2_SEL A1
4. define PS2_CLK A2

1. define PWM 5 //电机速度引脚
2. define DIR 4 //电机方向引脚
3. define SERVOPIN 3 //舵机引脚

/***************************************************

  默认居中90度情况下，最小值为50，最大值为130
**************************************************/

1. define SERVOMIN 55 //舵机左转最大值
2. define SERVOMID 90 //舵机回中值
3. define SERVOMAX 125 //舵机右转最大值
4. define TURNLEFT myservo.write(SERVOMIN) //左转
5. define TURNMID myservo.write(SERVOMID) //回中
6. define TURNRIGHT myservo.write(SERVOMAX) //右转

/*************************************************

  电机速度控制，按键控制速度值设置
*************************************************/

1. define MOTORFORWARD setMotor(100) //按键前进速度
2. define MOTORBACK setMotor(-100) //按键后退速度
3. define MOTORSTOP setMotor(0) //停止

int MAXSPEED = 150; //摇杆控制电机默认速度，可修改范围0-255. int MIDSPEED = MAXSPEED; int SERVOPOS = SERVOMID;

bool EnableRockerR = 1; bool EnableRockerL = 1; int RMid = 0 ; int LStop = 0 ;

1. define pressures false //按键模拟值关闭
2. define rumble true //震动电机打开

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

void setup() {

 Serial.begin(57600);         // Baud rate
 pinMode(PWM, OUTPUT);        // Pin state
 pinMode(DIR, OUTPUT);
 myservo.attach(SERVOPIN);
 SERVOMID;                     // Servo middle
 delay(300);
 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");
 }
 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.print("Unknown Controller type found ");
     break;
   case 1:
     Serial.print("DualShock Controller found ");
     break;
   case 2:
     Serial.print("GuitarHero Controller found ");
     break;
   case 3:
     Serial.print("Wireless Sony DualShock Controller found ");
     break;
 }

} void(* resetFunc) (void) = 0; //重新配对

void loop() {

 if (error == 1) //skip loop if no controller found
   resetFunc();
 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");

 /*************************************************
    PS2手柄左边按键部分控制电机
  *************************************************/
 if (ps2x.ButtonPressed(PSB_PAD_UP)) {          // 按下前进
   //    Serial.println("PAD_UP just pressed");
   MOTORFORWARD;
   EnableRockerL = 0;
 } else if (ps2x.ButtonReleased(PSB_PAD_UP)) {   //松开停止
   //    Serial.println(" PAD_UP just released");
   MOTORSTOP;
   EnableRockerL = 1;
   LStop = 0;
 }

 if (ps2x.ButtonPressed(PSB_PAD_DOWN)) {         //按下后退
   //    Serial.println("PAD_DOWN just pressed");
   MOTORBACK;
   EnableRockerL = 0;
 } else if (ps2x.ButtonReleased(PSB_PAD_DOWN)) {  //松开停止
   //    Serial.println(" PAD_DOWN just released");
   MOTORSTOP;
   EnableRockerL = 1;
   LStop = 0;
 }

 /***********************************************************************
    Rocker program
    Through the rocker arm around before and after the change of
    resistance for motor speed control
    Up and Left（0 - 127）
    Down and Right （129 - 255）
    摇杆比例控制程序
       通过摇杆前后左右阻值的变化实现电机转速控制
       上左范围（0 - 127）
       下右范围（129 - 255）
 ***********************************************************************/
 if (EnableRockerL) {
   if (0 <= ps2x.Analog(PSS_LY) && ps2x.Analog(PSS_LY) <= 115) {
     digitalWrite(DIR, LOW);
     analogWrite(PWM, map(ps2x.Analog(PSS_LY), 0, 115, MAXSPEED, 0));
     LStop = 0;
   } else if (255 >= ps2x.Analog(PSS_LY) && ps2x.Analog(PSS_LY) >= 135) {
     digitalWrite(DIR, HIGH);
     analogWrite(PWM, map(ps2x.Analog(PSS_LY), 140, 255, 0, MAXSPEED));
     LStop = 0;
   } else {
     if (LStop == 0) {
       MOTORSTOP;
       LStop ++;
     }
   }
 }

 /*************************************************
    PS2手柄右边按键控制舵机代码
  *************************************************/
 if (ps2x.ButtonPressed(PSB_CIRCLE)) {             //按下右转
   //    Serial.println("Circle just pressed");         //will be TRUE if button was JUST pressed
   TURNRIGHT;
   EnableRockerR = 0;
 } else if (ps2x.ButtonReleased(PSB_CIRCLE)) {     //松开回中
   //    Serial.println("Circle just released");
   TURNMID;
   EnableRockerR = 1;
   RMid = 0;
 }

 if (ps2x.ButtonPressed(PSB_SQUARE)) {            //按下左转
   //    Serial.println("Square just pressed");
   TURNLEFT;
   EnableRockerR = 0;
 } else if (ps2x.ButtonReleased(PSB_SQUARE)) {    //松开回中
   //    Serial.println("Square just released");
   TURNMID;
   EnableRockerR = 1;
   RMid = 0;
 }

 if (EnableRockerR) {
   if (0 <= ps2x.Analog(PSS_RX) && ps2x.Analog(PSS_RX) <= 115) {
     myservo.write(map(ps2x.Analog(PSS_RX), 0, 115, SERVOMIN, SERVOPOS));
     RMid = 0;
   } else if (255 >= ps2x.Analog(PSS_RX) && ps2x.Analog(PSS_RX) >= 130) {
     myservo.write(map(ps2x.Analog(PSS_RX), 130, 255, SERVOPOS, SERVOMAX));
     RMid = 0;
   } else {
     if (RMid == 0) {
       TURNMID;
       RMid ++;
     }
   }
 }

 //电机速度增加20，最大增加到255（全速） 摇杆部分
 if (ps2x.ButtonPressed(PSB_R1)) {
   MAXSPEED += 20;
   if (MAXSPEED > 255) {
     MAXSPEED = 255;
   }
   vibrate = 100;
 }

 //电机速度减少20，最低到0（停止）
 if (ps2x.ButtonPressed(PSB_R2)) {
   MAXSPEED -= 20;
   if (MAXSPEED <= 0) {
     MAXSPEED = 0;
   }
   vibrate = 100;
 }

 //恢复电机初始速度值
 if (ps2x.ButtonPressed(PSB_CROSS)) {
   // reset speed;
   MAXSPEED = MIDSPEED;
   vibrate = 100;
 }

 if (ps2x.ButtonReleased(PSB_L1) || ps2x.ButtonReleased(PSB_L2) ||
     ps2x.ButtonReleased(PSB_R1) || ps2x.ButtonReleased(PSB_R2) || ps2x.ButtonReleased(PSB_CROSS)) {
   vibrate = 0;
   //    Serial.println("vibrate = 0");
 }

 delay(50);

}

//电机驱动函数，按键部分 void setMotor(int Speed) {

 if (Speed > 0) {
   digitalWrite(DIR, LOW);
   analogWrite(PWM, Speed);
 } else if (Speed < 0) {
   digitalWrite(DIR, HIGH);
   analogWrite(PWM, abs(Speed));
 } else {
   analogWrite(PWM, LOW);
   digitalWrite(DIR, LOW);
 }

}