代码收藏家技术教程 2023-04-08

基于arduino及PS2的麦克纳姆轮遥控小车

实物展示

1、选材用料

2、设计原理

2、代码展示

#include <PS2X_lib.h>
#include<AFMotor.h>
#define PS2_DAT        13  //14    //对应的串口初始化，arduino板上的引脚分别连接PS2上对应的标识引脚
#define PS2_CMD        11  //15     //引脚可按自己连接更改
#define PS2_SEL        10  //16
#define PS2_CLK        12  //17

AF_DCMotor motor1(1);//对四个电机的连接建立
AF_DCMotor motor2(2);
AF_DCMotor motor3(3);
AF_DCMotor motor4(4);

#define pressures   true
#define rumble      true

PS2X ps2x; // create PS2 Controller Class

int error = 0;//以防出错的检测
byte type = 0;
byte vibrate = 0;

void (* resetFunc) (void) = 0;
/*检测连接是否建立，在无显示屏，无法print情况下无用*/
void setup(){
  Serial.begin(115200);//串口通讯波特率的建立
  motor1.setSpeed(200); //四个电机速度的设置（200可按实际需要速度更改）
  motor2.setSpeed(200); 
  motor3.setSpeed(200); 
  motor4.setSpeed(200); 
  
  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;
   }

}

/*前后左右函数*/
void STOP(){
 motor1.run(RELEASE); 
 motor2.run(RELEASE); 
 motor3.run(RELEASE); 
 motor4.run(RELEASE); 
}//停止函数

void RUN(){
  motor1.run(FORWARD); 
 motor2.run(FORWARD); 
 motor3.run(FORWARD); 
 motor4.run(FORWARD); 
}//可调速的前进函数

void LEFT(){
 motor1.run(FORWARD); 
 motor2.run(BACKWARD); 
 motor3.run(BACKWARD); 
 motor4.run(FORWARD); 
}//可调速的左转函数

void RIGHT(){
 motor1.run(BACKWARD); 
 motor2.run(FORWARD); 
 motor3.run(FORWARD); 
 motor4.run(BACKWARD); 
}//可调速的右转函数

void BACK(){
  motor1.run(BACKWARD); 
 motor2.run(BACKWARD); 
 motor3.run(BACKWARD); 
 motor4.run(BACKWARD); 
}//可调速的后退函数

void zishun(){
  motor1.run(FORWARD); 
 motor2.run(BACKWARD); 
 motor3.run(FORWARD); 
 motor4.run(BACKWARD); 
}//顺时针自转

void zini(){
  motor1.run(BACKWARD); 
 motor2.run(FORWARD); 
 motor3.run(BACKWARD); 
 motor4.run(FORWARD); 
}//逆时针自转

/*直接引用示例库，在按下某一按键后，会print 提示，
在提示后加入需要运行的代码，即可实现需要效果，也
可删去多余部分，在此小编直接引用*/
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();//按压PSB_PAD_UP键后执行RUN()函数
      Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
    }
    if(ps2x.Button(PSB_PAD_RIGHT)){
      Serial.print("Right held this hard: ");
      RIGHT();//按压PSB_PAD_RIGHT键后执行 RIGHT()函数右转
      Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC);
    }
    if(ps2x.Button(PSB_PAD_LEFT)){
      Serial.print("LEFT held this hard: ");
      LEFT();//按压PSB_PAD_LEFTT键后执行LEFT()函数左转
      Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC);
    }
    if(ps2x.Button(PSB_PAD_DOWN)){
      Serial.print("DOWN held this hard: ");
      BACK();//按压PSB_PAD_DOWN键后执行 BACK()函数后退
      Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
    }   
    if(ps2x.Button(PSB_R3)){
      Serial.print("DOWN held this hard: ");
      zishun();//按压PSB_R3键后执行zishun()函数顺时针自转
      Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
    }   
    if(ps2x.Button(PSB_L3)){
      Serial.print("DOWN held this hard: ");
      zini();//按压PSB_L3键后执行 zini()函数逆时针自转
      Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
    }   

     /*以下函数在实作中没有用到*/
    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);  
}

3、结构原理

3.1建模

通过建模模拟车体基本构架，便于结构设计、无实物展示展示和组装；

(b)

图3.1 小车sw模型

小车简介：小车将采用钢质小车地盘作为车身；以直流减速电机提供动力；麦克纳姆轮作为车轮；采取可装卸推球凹槽。

图3.2 小球推槽结构

小球推槽结构简介：采用螺母结构固定于车身，竞速赛道时取下提高速度和可操控性，凹槽采取两段圆弧结构，大圆弧加宽凹槽宽度，使小车在遥控行驶的过程中更易捕获小球，凹槽中的小圆弧用于在推动小球时限制小球的较大范围运动，使在推小球到指定区域外时，小车减速，小球依靠惯性运动进入区域时，对小球的运动角度把握的更精准。