J'ai eu ma réponse en expérimentant beaucoup. La première chose est que vous devez soit redémarrer votre arduino ou configurer votre broche après la connexion de ps2 à arduino. Cela peut se faire de 2 façons: 1) Redémarrez arduino après la connexion par code ou 2) configurer à nouveau après la connexion
1 option vous connaissez bien, je parle 2ème à savoir configurer:
comme vous le savez que vous avez déjà configuré les pins par la fonction ps2x.config_gamepad(); Vous devez maintenant le reconfigurer après la connexion de ps2 à arduino, vous pouvez utiliser une fonction appelée reconfig_gamepad(); après read_gamepad(); dans la boucle vide.
mon code pour le train d'entraînement holonomique est ci-dessous trouver des commentaires // il y a un total de quatre lignes commentées dans le code. bonne chance. J'espère que cela va résoudre votre problème aussi.
#include <PS2X_lib.h> //for v1.6
int dir1=13;
int dir2=11;
int dir3=9;
int dir4=7;
int pwm1=12;
int pwm2=10;
int pwm3=8;
int pwm4=6;
int value_mapped;
/******************************************************************
* set pins connected to PS2 controller:
* - 1e column: original
* - 2e colmun: Stef?
* replace pin numbers by the ones you use
******************************************************************/
#define PS2_DAT 44 //14
#define PS2_CMD 46 //15
#define PS2_SEL 48 //16
#define PS2_CLK 50 //17
/******************************************************************
* select modes of PS2 controller:
* - pressures = analog reading of push-butttons
* - rumble = motor rumbling
* uncomment 1 of the lines for each mode selection
******************************************************************/
//#define pressures true
#define pressures false
//#define rumble true
#define rumble false
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 connect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
void setup(){
Serial.begin(57600);
pinMode(dir1,OUTPUT);
pinMode(dir2,OUTPUT);
pinMode(dir3,OUTPUT);
pinMode(dir4,OUTPUT);
pinMode(pwm1,OUTPUT);
pinMode(pwm2,OUTPUT);
pinMode(pwm3,OUTPUT);
pinMode(pwm4,OUTPUT);
delay(1000); //added delay to give wireless ps2 module some time to startup, before configuring it
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
if_error_is_found: // <!---- changed here --->
//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
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");
goto if_error_is_found; // <!---- changed here --->
}
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.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 loop() {
/* You must Read Gamepad to get new values and set vibration values
ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
if you don't enable the rumble, use ps2x.read_gamepad(); with no values
You should call this at least once a second
*/
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(); //read controller and set large motor to spin at 'vibrate' speed
ps2x.reconfig_gamepad(); // <!---- changed here --->
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);
}
if(ps2x.Button(PSB_PAD_RIGHT)){
Serial.print("Right held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
}
if(ps2x.Button(PSB_PAD_LEFT)){
Serial.print("LEFT held this hard: ");
Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
}
if(ps2x.Button(PSB_PAD_DOWN)){
Serial.print("DOWN held this hard: ");
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");
}
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.println("Stick Values:");
Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX
//Forward Direction And BAckward Diretion
if(ps2x.Button(PSB_R1)){
if(ps2x.Analog(PSS_RY)>=0)
{
//Forward Direction
if(ps2x.Analog(PSS_RY)<127)
{
Serial.println("All MOtor Running Forward");
digitalWrite(dir1,LOW);
digitalWrite(dir2,HIGH);
digitalWrite(dir3,HIGH);
digitalWrite(dir4,LOW);
value_mapped=map(ps2x.Analog(PSS_RY),127,0,0,80);
analogWrite(pwm1,value_mapped);
analogWrite(pwm2,value_mapped);
analogWrite(pwm3,value_mapped);
analogWrite(pwm4,value_mapped);
}
//BAckward Direction
if(ps2x.Analog(PSS_RY)>=127)
{
Serial.println("All MOtor Running Backward");
digitalWrite(dir1,HIGH);
digitalWrite(dir2,LOW);
digitalWrite(dir3,LOW);
digitalWrite(dir4,HIGH);
value_mapped=map(ps2x.Analog(PSS_RY),127,255,0,80);
analogWrite(pwm1,value_mapped);
analogWrite(pwm2,value_mapped);
analogWrite(pwm3,value_mapped);
analogWrite(pwm4,value_mapped);
}
}
// LEft OR Right Direction
if(ps2x.Analog(PSS_RX)>=0)
{
//Left diretion
if(ps2x.Analog(PSS_RX)<128)
{
Serial.println("All MOtor Running Left");
digitalWrite(dir1,HIGH);
digitalWrite(dir2,HIGH);
digitalWrite(dir3,LOW);
digitalWrite(dir4,LOW);
value_mapped=map(ps2x.Analog(PSS_RX),128,0,0,80);
analogWrite(pwm1,value_mapped);
analogWrite(pwm2,value_mapped);
analogWrite(pwm3,value_mapped);
analogWrite(pwm4,value_mapped);
}
//Right Direction
if(ps2x.Analog(PSS_RX)>128)
{
Serial.println("All MOtor Running Right");
digitalWrite(dir1,LOW);
digitalWrite(dir2,LOW);
digitalWrite(dir3,HIGH);
digitalWrite(dir4,HIGH);
value_mapped=map(ps2x.Analog(PSS_RX),128,255,0,80);
analogWrite(pwm1,value_mapped);
analogWrite(pwm2,value_mapped);
analogWrite(pwm3,value_mapped);
analogWrite(pwm4,value_mapped);
}
}
//All MOtors Clock
if((ps2x.Analog(PSS_LX)<128) )
{
Serial.println("CLOCKWISE RUNNING ALL MOTORS");
digitalWrite(dir1,LOW);
digitalWrite(dir2,LOW);
digitalWrite(dir3,LOW);
digitalWrite(dir4,LOW);
value_mapped=map(ps2x.Analog(PSS_LX),128,0,0,80);
analogWrite(pwm1,value_mapped);
analogWrite(pwm2,value_mapped);
analogWrite(pwm3,value_mapped);
analogWrite(pwm4,value_mapped);
}
//All MOtors Anti-CLockwise
if(ps2x.Analog(PSS_LX)>128)
{
Serial.println("CLOCKWISE RUNNING ALL MOTORS");
digitalWrite(dir1,HIGH);
digitalWrite(dir2,HIGH);
digitalWrite(dir3,HIGH);
digitalWrite(dir4,HIGH);
value_mapped=map(ps2x.Analog(PSS_LX),128,255,0,80);
analogWrite(pwm1,value_mapped);
analogWrite(pwm2,value_mapped);
analogWrite(pwm3,value_mapped);
analogWrite(pwm4,value_mapped);
}
}
if(ps2x.Button(PSB_L1)){
if((ps2x.Analog(PSS_LX)>=120) && (ps2x.Analog(PSS_LX)<=128)){
analogWrite(pwm1,0);
analogWrite(pwm3,0);
}
//dIAGONAL L
if(ps2x.Analog(PSS_LX)<120)
{
Serial.println("CLOCKWISE RUNNING ALL MOTORS");
digitalWrite(dir1,LOW);
digitalWrite(dir3,HIGH);
value_mapped=map(ps2x.Analog(PSS_LX),128,0,0,80);
analogWrite(pwm1,value_mapped);
analogWrite(pwm3,value_mapped);
}
//dIAGONAL R
if(ps2x.Analog(PSS_LX)>=128)
{
Serial.println("CLOCKWISE RUNNING ALL MOTORS");
digitalWrite(dir2,HIGH);
digitalWrite(dir4,LOW);
value_mapped=map(ps2x.Analog(PSS_LX),128,255,0,80);
analogWrite(pwm2,value_mapped);
analogWrite(pwm4,value_mapped);
}
}
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);
}