Ban yeni açıldı kusura bakmayın
#include <ps5Controller.h>
//Right motor
int enableRightMotor=22;
int rightMotorPin1=16;
int rightMotorPin2=17;
//Left motor
int enableLeftMotor=23;
int leftMotorPin1=18;
int leftMotorPin2=19;
const int PWMFreq = 1000; /* 1 KHz */
const int PWMResolution = 8;
const int rightMotorPWMSpeedChannel = 4;
const int leftMotorPWMSpeedChannel = 5;
void notify()
{
int yAxisValue =(ps5.data.analog.stick.ly); //Left stick - y axis - forward/backward car movement
int xAxisValue =(ps5.data.analog.stick.rx); //Right stick - x axis - left/right car movement
int throttle = map( yAxisValue, -127, 127, -255, 255);
int steering = map( xAxisValue, -127, 127, -255, 255);
int motorDirection = 1;
if (throttle < 0) //Move car backward
{
motorDirection = -1;
}
int rightMotorSpeed, leftMotorSpeed;
rightMotorSpeed = abs(throttle) - steering;
leftMotorSpeed = abs(throttle) + steering;
rightMotorSpeed = constrain(rightMotorSpeed, 0, 255);
leftMotorSpeed = constrain(leftMotorSpeed, 0, 255);
rotateMotor(rightMotorSpeed * motorDirection, leftMotorSpeed * motorDirection);
}
void onConnect()
{
Serial.println("Connected!.");
}
void onDisConnect()
{
rotateMotor(0, 0);
Serial.println("Disconnected!.");
}
void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)
{
if (rightMotorSpeed < 0)
{
digitalWrite(rightMotorPin1,LOW);
digitalWrite(rightMotorPin2,HIGH);
}
else if (rightMotorSpeed > 0)
{
digitalWrite(rightMotorPin1,HIGH);
digitalWrite(rightMotorPin2,LOW);
}
else
{
digitalWrite(rightMotorPin1,LOW);
digitalWrite(rightMotorPin2,LOW);
}
if (leftMotorSpeed < 0)
{
digitalWrite(leftMotorPin1,LOW);
digitalWrite(leftMotorPin2,HIGH);
}
else if (leftMotorSpeed > 0)
{
digitalWrite(leftMotorPin1,HIGH);
digitalWrite(leftMotorPin2,LOW);
}
else
{
digitalWrite(leftMotorPin1,LOW);
digitalWrite(leftMotorPin2,LOW);
}
ledcWrite(rightMotorPWMSpeedChannel, abs(rightMotorSpeed));
ledcWrite(leftMotorPWMSpeedChannel, abs(leftMotorSpeed));
}
void setUpPinModes()
{
pinMode(enableRightMotor,OUTPUT);
pinMode(rightMotorPin1,OUTPUT);
pinMode(rightMotorPin2,OUTPUT);
pinMode(enableLeftMotor,OUTPUT);
pinMode(leftMotorPin1,OUTPUT);
pinMode(leftMotorPin2,OUTPUT);
//Set up PWM for motor speed
ledcSetup(rightMotorPWMSpeedChannel, PWMFreq, PWMResolution);
ledcSetup(leftMotorPWMSpeedChannel, PWMFreq, PWMResolution);
ledcAttachPin(enableRightMotor, rightMotorPWMSpeedChannel);
ledcAttachPin(enableLeftMotor, leftMotorPWMSpeedChannel);
rotateMotor(0, 0);
}
void setup()
{
setUpPinModes();
Serial.begin(115200);
ps5.attach(notify);
ps5.attachOnConnect(onConnect);
ps5.attachOnDisconnect(onDisConnect);
ps5.begin("ac:36:1b:2e:ad:e5");
while (ps5.isConnected() == false)
{
Serial.println("PS5 controller not found");
delay(300);
}
Serial.println("Ready.");
}
void loop()
{
}
