Moving motor and Arm motor
L298 board control motor
Arduino Micro controller
PS2X Receiver and Transmitter
L298 Board control motor
Wiring
Example Moving motor
 |
| Complete wiring |
Arduino to Wheel motor
2 ---> ENA
3 ---> IN1
4 ---> IN2
5 ---> IN3
6 ---> IN4
7 ---> ENB
Arduino to Arm motor
A0 ---> ENA
A1 ---> IN1
A2 ---> IN2
A3 ---> IN3
A4 ---> IN4
A5 ---> ENB
Commissioning
VIDEO
CODE
#include <PS2X_lib.h>
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;
int ENA=2;
int IN1=3;
int IN2=4;
int IN3=5;
int IN4=6;
int ENB=7;
int ENA1=A0;
int IN11=A1;
int IN12=A2;
int IN13=A3;
int IN14=A4;
int ENB1=A5;
void setup() {
// put your setup code here, to run once:
pinMode(ENA,OUTPUT);//output
pinMode(ENB,OUTPUT);
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(ENA1,OUTPUT);//output
pinMode(ENB1,OUTPUT);
pinMode(IN11,OUTPUT);
pinMode(IN12,OUTPUT);
pinMode(IN13,OUTPUT);
pinMode(IN14,OUTPUT);
Serial.begin(57600);
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
error = ps2x.config_gamepad(13,11,10,12, true, true); //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
if(error == 0){
Serial.println("Found Controller, configured successful");
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("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. ");
//Serial.print(ps2x.Analog(1), HEX);
type = ps2x.readType();
switch(type) {
case 0:
Serial.println("Unknown Controller type");
break;
case 1:
Serial.println("DualShock Controller Found");
break;
case 2:
Serial.println("GuitarHero Controller Found");
break;
}
}
void loop() {
// put your main code here, to run repeatedly:
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);// High is start driving car
//forward
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);//setting motorA's directon
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);//setting motorB's directon]
// digitalWrite(ENA1,HIGH);
// digitalWrite(ENB1,HIGH);// High is start driving car
//forward
// digitalWrite(IN11,LOW);
// digitalWrite(IN12,LOW);//setting motorA's directon
// digitalWrite(IN13,LOW);
// digitalWrite(IN14,LOW);//setting motorB's directon]
if(error == 1) //skip loop if no controller found
return;
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: ");
Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);// High is start driving car
//forward
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);//setting motorA's directon
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);//setting motorB's directon]
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);// High is start driving car
//forward
digitalWrite(IN1,LOW);
digitalWrite(IN2,LOW);//setting motorA's directon
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);//setting motorB's directon]
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);// High is start driving car
//forward
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);//setting motorA's directon
digitalWrite(IN3,LOW);
digitalWrite(IN4,LOW);//setting motorB's directon]
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
digitalWrite(ENA,HIGH);
digitalWrite(ENB,HIGH);// High is start driving car
//forward
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);//setting motorA's directon
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);//setting motorB's directon]
}
vibrate = ps2x.Analog(PSAB_BLUE); //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_GREEN)){
Serial.println("Triangle pressed");
digitalWrite(ENA1,HIGH);
digitalWrite(ENB1,HIGH);// High is start driving car
digitalWrite(IN11,LOW);
digitalWrite(IN12,LOW);//setting motorA's directon
digitalWrite(IN13,LOW);
digitalWrite(IN14,LOW);//setting motorB's directon]
}
}
if(ps2x.ButtonPressed(PSB_RED)) { //will be TRUE if button was JUST pressed
Serial.println("Circle just pressed");
digitalWrite(ENA1,HIGH);
digitalWrite(ENB1,HIGH);// High is start driving car
digitalWrite(IN11,LOW);
digitalWrite(IN12,LOW);//setting motorA's directon
digitalWrite(IN13,LOW);
digitalWrite(IN14,LOW);//setting motorB's directon]
digitalWrite(ENA1,HIGH);
digitalWrite(ENB1,HIGH);// High is start driving car
//forward
digitalWrite(IN11,LOW);
digitalWrite(IN12,LOW);//setting motorA's directon
digitalWrite(IN13,LOW);
digitalWrite(IN14,HIGH);//setting motorB's directon]
}
if(ps2x.ButtonReleased(PSB_PINK)) { //will be TRUE if button was JUST released
Serial.println("Square just released");
digitalWrite(ENA1,HIGH);
digitalWrite(ENB1,HIGH);// High is start driving car
//forward
digitalWrite(IN11,LOW);
digitalWrite(IN12,LOW);//setting motorA's directon
digitalWrite(IN13,HIGH);
digitalWrite(IN14,LOW);//setting motorB's directon]
}
if(ps2x.NewButtonState(PSB_BLUE)) { //will be TRUE if button was JUST pressed OR released
Serial.println("X just changed");
digitalWrite(ENA1,HIGH);
digitalWrite(ENB1,HIGH);// High is start driving car
//forward
digitalWrite(IN11,LOW);
digitalWrite(IN12,HIGH);//setting motorA's directon
digitalWrite(IN13,LOW);
digitalWrite(IN14,LOW);//setting motorB's directon]
}
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(100);
}
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