【運動】P2x搖桿(速配式) | dual2s (2025)

簡介

GoX系列機器人(GoSUMO、GoARM、GoJoga足球….)的核心控制器為dual2s。我們提供的程式範例中，控制GoX系列機器人的通訊模式主要有三種：【APP控制模式、PS2x控制模式(速配式)、PS3x控制模式(鎖址式)】，如圖所示。

👉本單元將針對【P2x搖桿模式(鎖址式)】提供程式範例。

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GoX輪型運動基礎概念

本單元程式範例提供兩組運動模式：抓地胎、麥克納姆輪。抓地胎共4種運動模式、麥克納姆輪共有10種運動模式。如下圖表。

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P2x搖桿 按鍵功能介紹

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範例程式一、抓地胎

GoX在【抓地胎】模式時，目前有4種運動方向：前進、後退、左旋轉、右旋轉。運動速度由【搖桿推值】決定。

yesioBlockly積木程式範例

本範例下載傳送門，👉【XML檔案】。

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Arduino C 程式範例

#include <dual2s.h>
#include <PS2X_lib.h>
#include <Servo.h>

//DC電機GPIO
#define PIN_MOTO_1A  14
#define PIN_MOTO_1B  32
#define PIN_MOTO_2A  12
#define PIN_MOTO_2B  33
#define PIN_MOTO_3A  25
#define PIN_MOTO_3B  26
#define PIN_MOTO_4A  23
#define PIN_MOTO_4B  22

//蜂鳴器GPIO
#define PIN_BUZZER   15

//超音波GPIO
#define PIN_USC_FRONT_ECHO 13
#define PIN_USC_FRONT_TRIG 27
#define PIN_USC_RIGHT_ECHO 5
#define PIN_USC_RIGHT_TRIG 4
#define PIN_USC_LEFT_ECHO 19
#define PIN_USC_LEFT_TRIG 18

//短距紅外線GPIO
#define PIN_IR_LEFT    34
#define PIN_IR_MIDDLE  35
#define PIN_IR_RIGHT   39

//供電偵測GPIO
#define PIN_BATTERY    36

//預設使用的PWM通道
#define PWM_CH_BUZZER 7
#define PWM_CH_M1A    8
#define PWM_CH_M1B    9
#define PWM_CH_M2A    10
#define PWM_CH_M2B    11
#define PWM_CH_M3A    12
#define PWM_CH_M3B    13
#define PWM_CH_M4A    14
#define PWM_CH_M4B    15

GoSUMO gs;

Buzzer bz(PIN_BUZZER, PWM_CH_BUZZER);
IR3CH ir(PIN_IR_LEFT, PIN_IR_MIDDLE, PIN_IR_RIGHT);
#define PS2_DAT    4
#define PS2_CMD    17
#define PS2_SEL    16
#define PS2_CLK    21
#define pressures  false
#define rumble     false
PS2X ps2x;
int error = -1;
byte PS2X_type = 0;
byte vibrate = 0;
int tryNum = 1;

void PS2X_INIT(){
 while (error != 0) {
  delay(1000);
  error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
  Serial.print("#try config ");  Serial.println(tryNum);  tryNum ++;
 }
 Serial.println(ps2x.Analog(1), HEX);
 PS2X_type = ps2x.readType();
 switch(PS2X_type) {
   case 0: Serial.printf("Unknown Controller type found, type is %d", PS2X_type);  break;
   case 1: Serial.printf("DualShock Controller found, type is %d", PS2X_type);  break;
   case 2: Serial.printf("GuitarHero Controller found, type is %d", PS2X_type);  break;
   case 3: Serial.printf("Wireless Sony DualShock Controller found, type is %d", PS2X_type);  break;
 }
}

void setup()
{
  PS2X_INIT(); //注意，此將占用DUAL右側超音波
  bz.alarm();
}

void loop()
{
    if (PS2X_type != 2) {
      ps2x.read_gamepad(false, vibrate);
      if (ps2x.Analog(PSS_RY) <= 118) {
        gs.act(GoSUMO::FORWARD, map(ps2x.Analog(PSS_RY),128,0,150,1023));
      }
      if (ps2x.Analog(PSS_RY) >= 138) {
        gs.act(GoSUMO::BACKWARD, map(ps2x.Analog(PSS_RY),128,255,150,1023));
      }
      if (ps2x.Analog(PSS_RX) <= 118) {
        gs.act(GoSUMO::GO_LEFT, map(ps2x.Analog(PSS_RX),128,0,150,1023));
      }
      if (ps2x.Analog(PSS_RX) >= 138) {
        gs.act(GoSUMO::GO_RIGHT, map(ps2x.Analog(PSS_RX),128,255,150,1023));
      }
      if (ps2x.Analog(PSS_RX) >= 125 && ps2x.Analog(PSS_RX) <= 130 && ps2x.Analog(PSS_RY) >= 125 && ps2x.Analog(PSS_RY) <= 130) {
        gs.stop();
      }
    }
    delay(15);
}