智宇科技 ZYARJX-1机械臂智能小车 —— PS2游戏手柄控制程序

头文件

#ifndef PS2X_lib_h#define PS2X_lib_h#if ARDUINO > 22#include "Arduino.h"
#else#include "WProgram.h"
#endif#include 
#include 
#include 
#ifdef __AVR__// AVR#include #define CTRL_CLK        4#define CTRL_BYTE_DELAY 3
#else// Pic32...#include #define CTRL_CLK        5#define CTRL_CLK_HIGH   5#define CTRL_BYTE_DELAY 4
#endif //These are our button constants
#define PSB_SELECT      0x0001
#define PSB_L3          0x0002
#define PSB_R3          0x0004
#define PSB_START       0x0008
#define PSB_PAD_UP      0x0010
#define PSB_PAD_RIGHT   0x0020
#define PSB_PAD_DOWN    0x0040
#define PSB_PAD_LEFT    0x0080
#define PSB_L2          0x0100
#define PSB_R2          0x0200
#define PSB_L1          0x0400
#define PSB_R1          0x0800
#define PSB_GREEN       0x1000
#define PSB_RED         0x2000
#define PSB_BLUE        0x4000
#define PSB_PINK        0x8000
#define PSB_TRIANGLE    0x1000
#define PSB_CIRCLE      0x2000
#define PSB_CROSS       0x4000
#define PSB_SQUARE      0x8000//Guitar  button constants
#define UP_STRUM		0x0010
#define DOWN_STRUM		0x0040
#define STAR_POWER		0x0100
#define GREEN_FRET		0x0200
#define YELLOW_FRET		0x1000
#define RED_FRET		0x2000
#define BLUE_FRET		0x4000
#define ORANGE_FRET		0x8000
#define WHAMMY_BAR		8//These are stick values
#define PSS_RX 5
#define PSS_RY 6
#define PSS_LX 7
#define PSS_LY 8//These are analog buttons
#define PSAB_PAD_RIGHT    9
#define PSAB_PAD_UP      11
#define PSAB_PAD_DOWN    12
#define PSAB_PAD_LEFT    10
#define PSAB_L2          19
#define PSAB_R2          20
#define PSAB_L1          17
#define PSAB_R1          18
#define PSAB_GREEN       13
#define PSAB_RED         14
#define PSAB_BLUE        15
#define PSAB_PINK        16
#define PSAB_TRIANGLE    13
#define PSAB_CIRCLE      14
#define PSAB_CROSS       15
#define PSAB_SQUARE      16#define SET(x,y) (x|=(1<
#define CLR(x,y) (x&=(~(1<
#define CHK(x,y) (x & (1<
#define TOG(x,y) (x^=(1<class PS2X {public:boolean Button(uint16_t);                //will be TRUE if button is being pressedunsigned int ButtonDataByte();boolean NewButtonState();boolean NewButtonState(unsigned int);    //will be TRUE if button was JUST pressed OR releasedboolean ButtonPressed(unsigned int);     //will be TRUE if button was JUST pressedboolean ButtonReleased(unsigned int);    //will be TRUE if button was JUST releasedvoid read_gamepad();boolean  read_gamepad(boolean, byte);byte readType();byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t);byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t, bool, bool);void enableRumble();bool enablePressures();byte Analog(byte);void reconfig_gamepad();private:inline void CLK_SET(void);inline void CLK_CLR(void);inline void CMD_SET(void);inline void CMD_CLR(void);inline void ATT_SET(void);inline void ATT_CLR(void);inline bool DAT_CHK(void);unsigned char _gamepad_shiftinout (char);unsigned char PS2data[21];void sendCommandString(byte*, byte);unsigned char i;unsigned int last_buttons;unsigned int buttons;#ifdef __AVR__uint8_t maskToBitNum(uint8_t);uint8_t _clk_mask; volatile uint8_t *_clk_oreg;uint8_t _cmd_mask; volatile uint8_t *_cmd_oreg;uint8_t _att_mask; volatile uint8_t *_att_oreg;uint8_t _dat_mask; volatile uint8_t *_dat_ireg;#elseuint8_t maskToBitNum(uint8_t);uint16_t _clk_mask; volatile uint32_t *_clk_lport_set;volatile uint32_t *_clk_lport_clr;uint16_t _cmd_mask; volatile uint32_t *_cmd_lport_set;volatile uint32_t *_cmd_lport_clr;uint16_t _att_mask; volatile uint32_t *_att_lport_set;volatile uint32_t *_att_lport_clr;uint16_t _dat_mask; volatile uint32_t *_dat_lport;#endifunsigned long last_read;byte read_delay;byte controller_type;boolean en_Rumble;boolean en_Pressures;
};#endif

C文件

#include "PS2X_lib.h"
#include 
#include 
#include 
#include 
#if ARDUINO > 22#include "Arduino.h"
#else#include "WProgram.h"#include "pins_arduino.h"
#endifstatic byte enter_config[]={0x01,0x43,0x00,0x01,0x00};
static byte set_mode[]={0x01,0x44,0x00,0x01,0x03,0x00,0x00,0x00,0x00};
static byte set_bytes_large[]={0x01,0x4F,0x00,0xFF,0xFF,0x03,0x00,0x00,0x00};
static byte exit_config[]={0x01,0x43,0x00,0x00,0x5A,0x5A,0x5A,0x5A,0x5A};
static byte enable_rumble[]={0x01,0x4D,0x00,0x00,0x01};
static byte type_read[]={0x01,0x45,0x00,0x5A,0x5A,0x5A,0x5A,0x5A,0x5A};/****************************************************************************************/
boolean PS2X::NewButtonState() {return ((last_buttons ^ buttons) > 0);
}/****************************************************************************************/
boolean PS2X::NewButtonState(unsigned int button) {return (((last_buttons ^ buttons) & button) > 0);
}/****************************************************************************************/
boolean PS2X::ButtonPressed(unsigned int button) {return(NewButtonState(button) & Button(button));
}/****************************************************************************************/
boolean PS2X::ButtonReleased(unsigned int button) {return((NewButtonState(button)) & ((~last_buttons & button) > 0));
}/****************************************************************************************/
boolean PS2X::Button(uint16_t button) {return ((~buttons & button) > 0);
}/****************************************************************************************/
unsigned int PS2X::ButtonDataByte() {return (~buttons);
}/****************************************************************************************/
byte PS2X::Analog(byte button) {return PS2data[button];
}/****************************************************************************************/
unsigned char PS2X::_gamepad_shiftinout (char byte) {unsigned char tmp = 0;for(unsigned char i=0;i<8;i++) {if(CHK(byte,i)) CMD_SET();else CMD_CLR();CLK_CLR();delayMicroseconds(CTRL_CLK);//if(DAT_CHK()) SET(tmp,i);if(DAT_CHK()) bitSet(tmp,i);CLK_SET();
#if CTRL_CLK_HIGHdelayMicroseconds(CTRL_CLK_HIGH);
#endif}CMD_SET();delayMicroseconds(CTRL_BYTE_DELAY);return tmp;
}/****************************************************************************************/
void PS2X::read_gamepad() {read_gamepad(false, 0x00);
}/****************************************************************************************/
boolean PS2X::read_gamepad(boolean motor1, byte motor2) {double temp = millis() - last_read;if (temp > 1500) //waited to longreconfig_gamepad();if(temp < read_delay)  //waited too shortdelay(read_delay - temp);if(motor2 != 0x00)motor2 = map(motor2,0,255,0x40,0xFF); //noting below 40 will make it spinchar dword[9] = {0x01,0x42,0,motor1,motor2,0,0,0,0};byte dword2[12] = {0,0,0,0,0,0,0,0,0,0,0,0};// Try a few times to get valid data...for (byte RetryCnt = 0; RetryCnt < 5; RetryCnt++) {CMD_SET();CLK_SET();ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);//Send the command to send button and joystick data;for (int i = 0; i<9; i++) {PS2data[i] = _gamepad_shiftinout(dword[i]);}if(PS2data[1] == 0x79) {  //if controller is in full data return mode, get the rest of datafor (int i = 0; i<12; i++) {PS2data[i+9] = _gamepad_shiftinout(dword2[i]);}}ATT_SET(); // HI disable joystick// Check to see if we received valid data or not.  // We should be in analog mode for our data to be valid (analog == 0x7_)if ((PS2data[1] & 0xf0) == 0x70)break;// If we got to here, we are not in analog mode, try to recover...reconfig_gamepad(); // try to get back into Analog mode.delay(read_delay);}// If we get here and still not in analog mode (=0x7_), try increasing the read_delay...if ((PS2data[1] & 0xf0) != 0x70) {if (read_delay < 10)read_delay++;   // see if this helps out...}#ifdef PS2X_COM_DEBUGSerial.println("OUT:IN");for(int i=0; i<9; i++){Serial.print(dword[i], HEX);Serial.print(":");Serial.print(PS2data[i], HEX);Serial.print(" ");}for (int i = 0; i<12; i++) {Serial.print(dword2[i], HEX);Serial.print(":");Serial.print(PS2data[i+9], HEX);Serial.print(" ");}Serial.println("");
#endiflast_buttons = buttons; //store the previous buttons states#if defined(__AVR__)buttons = *(uint16_t*)(PS2data+3);   //store as one value for multiple functions
#elsebuttons =  (uint16_t)(PS2data[4] << 8) + PS2data[3];   //store as one value for multiple functions
#endiflast_read = millis();return ((PS2data[1] & 0xf0) == 0x70);  // 1 = OK = analog mode - 0 = NOK
}/****************************************************************************************/
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat) {return config_gamepad(clk, cmd, att, dat, false, false);
}/****************************************************************************************/
byte PS2X::config_gamepad(uint8_t clk, uint8_t cmd, uint8_t att, uint8_t dat, bool pressures, bool rumble) {byte temp[sizeof(type_read)];#ifdef __AVR___clk_mask = digitalPinToBitMask(clk);_clk_oreg = portOutputRegister(digitalPinToPort(clk));_cmd_mask = digitalPinToBitMask(cmd);_cmd_oreg = portOutputRegister(digitalPinToPort(cmd));_att_mask = digitalPinToBitMask(att);_att_oreg = portOutputRegister(digitalPinToPort(att));_dat_mask = digitalPinToBitMask(dat);_dat_ireg = portInputRegister(digitalPinToPort(dat));
#elseuint32_t            lport;                   // Port number for this pin_clk_mask = digitalPinToBitMask(clk);lport = digitalPinToPort(clk);_clk_lport_set = portOutputRegister(lport) + 2;_clk_lport_clr = portOutputRegister(lport) + 1;_cmd_mask = digitalPinToBitMask(cmd);lport = digitalPinToPort(cmd);_cmd_lport_set = portOutputRegister(lport) + 2;_cmd_lport_clr = portOutputRegister(lport) + 1;_att_mask = digitalPinToBitMask(att);lport = digitalPinToPort(att);_att_lport_set = portOutputRegister(lport) + 2;_att_lport_clr = portOutputRegister(lport) + 1;_dat_mask = digitalPinToBitMask(dat);_dat_lport = portInputRegister(digitalPinToPort(dat));
#endifpinMode(clk, OUTPUT); //configure portspinMode(att, OUTPUT);pinMode(cmd, OUTPUT);pinMode(dat, INPUT);#if defined(__AVR__)digitalWrite(dat, HIGH); //enable pull-up
#endifCMD_SET(); // SET(*_cmd_oreg,_cmd_mask);CLK_SET();//new error checking. First, read gamepad a few times to see if it's talkingread_gamepad();read_gamepad();//see if it talked - see if mode came back. //If still anything but 41, 73 or 79, then it's not talkingif(PS2data[1] != 0x41 && PS2data[1] != 0x73 && PS2data[1] != 0x79){ 
#ifdef PS2X_DEBUGSerial.println("Controller mode not matched or no controller found");Serial.print("Expected 0x41, 0x73 or 0x79, but got ");Serial.println(PS2data[1], HEX);
#endifreturn 1; //return error code 1}//try setting mode, increasing delays if need be.read_delay = 1;for(int y = 0; y <= 10; y++) {sendCommandString(enter_config, sizeof(enter_config)); //start config run//read typedelayMicroseconds(CTRL_BYTE_DELAY);CMD_SET();CLK_SET();ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);for (int i = 0; i<9; i++) {temp[i] = _gamepad_shiftinout(type_read[i]);}ATT_SET(); // HI disable joystickcontroller_type = temp[3];sendCommandString(set_mode, sizeof(set_mode));if(rumble){ sendCommandString(enable_rumble, sizeof(enable_rumble)); en_Rumble = true; }if(pressures){ sendCommandString(set_bytes_large, sizeof(set_bytes_large)); en_Pressures = true; }sendCommandString(exit_config, sizeof(exit_config));read_gamepad();if(pressures){if(PS2data[1] == 0x79)break;if(PS2data[1] == 0x73)return 3;}if(PS2data[1] == 0x73)break;if(y == 10){
#ifdef PS2X_DEBUGSerial.println("Controller not accepting commands");Serial.print("mode stil set at");Serial.println(PS2data[1], HEX);
#endifreturn 2; //exit function with error}read_delay += 1; //add 1ms to read_delay}return 0; //no error if here
}/****************************************************************************************/
void PS2X::sendCommandString(byte string[], byte len) {
#ifdef PS2X_COM_DEBUGbyte temp[len];ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);for (int y=0; y < len; y++)temp[y] = _gamepad_shiftinout(string[y]);ATT_SET(); //high disable joystickdelay(read_delay); //wait a fewSerial.println("OUT:IN Configure");for(int i=0; i<len; i++) {Serial.print(string[i], HEX);Serial.print(":");Serial.print(temp[i], HEX);Serial.print(" ");}Serial.println("");
#elseATT_CLR(); // low enable joystickfor (int y=0; y < len; y++)_gamepad_shiftinout(string[y]);ATT_SET(); //high disable joystickdelay(read_delay);                  //wait a few
#endif
}/****************************************************************************************/
byte PS2X::readType() {
/*byte temp[sizeof(type_read)];sendCommandString(enter_config, sizeof(enter_config));delayMicroseconds(CTRL_BYTE_DELAY);CMD_SET();CLK_SET();ATT_CLR(); // low enable joystickdelayMicroseconds(CTRL_BYTE_DELAY);for (int i = 0; i<9; i++) {temp[i] = _gamepad_shiftinout(type_read[i]);}sendCommandString(exit_config, sizeof(exit_config));if(temp[3] == 0x03)return 1;else if(temp[3] == 0x01)return 2;return 0;
*/if(controller_type == 0x03)return 1;else if(controller_type == 0x01)return 2;else if(controller_type == 0x0C)  return 3;  //2.4G Wireless Dual Shock PS2 Game Controllerreturn 0;
}/****************************************************************************************/
void PS2X::enableRumble() {sendCommandString(enter_config, sizeof(enter_config));sendCommandString(enable_rumble, sizeof(enable_rumble));sendCommandString(exit_config, sizeof(exit_config));en_Rumble = true;
}/****************************************************************************************/
bool PS2X::enablePressures() {sendCommandString(enter_config, sizeof(enter_config));sendCommandString(set_bytes_large, sizeof(set_bytes_large));sendCommandString(exit_config, sizeof(exit_config));read_gamepad();read_gamepad();if(PS2data[1] != 0x79)return false;en_Pressures = true;return true;
}/****************************************************************************************/
void PS2X::reconfig_gamepad(){sendCommandString(enter_config, sizeof(enter_config));sendCommandString(set_mode, sizeof(set_mode));if (en_Rumble)sendCommandString(enable_rumble, sizeof(enable_rumble));if (en_Pressures)sendCommandString(set_bytes_large, sizeof(set_bytes_large));sendCommandString(exit_config, sizeof(exit_config));
}/****************************************************************************************/
#ifdef __AVR__
inline void  PS2X::CLK_SET(void) {register uint8_t old_sreg = SREG;cli();*_clk_oreg |= _clk_mask;SREG = old_sreg;
}inline void  PS2X::CLK_CLR(void) {register uint8_t old_sreg = SREG;cli();*_clk_oreg &= ~_clk_mask;SREG = old_sreg;
}inline void  PS2X::CMD_SET(void) {register uint8_t old_sreg = SREG;cli();*_cmd_oreg |= _cmd_mask; // SET(*_cmd_oreg,_cmd_mask);SREG = old_sreg;
}inline void  PS2X::CMD_CLR(void) {register uint8_t old_sreg = SREG;cli();*_cmd_oreg &= ~_cmd_mask; // SET(*_cmd_oreg,_cmd_mask);SREG = old_sreg;
}inline void  PS2X::ATT_SET(void) {register uint8_t old_sreg = SREG;cli();*_att_oreg |= _att_mask ;SREG = old_sreg;
}inline void PS2X::ATT_CLR(void) {register uint8_t old_sreg = SREG;cli();*_att_oreg &= ~_att_mask;SREG = old_sreg;
}inline bool PS2X::DAT_CHK(void) {return (*_dat_ireg & _dat_mask) ? true : false;
}#else
// On pic32, use the set/clr registers to make them atomic...
inline void  PS2X::CLK_SET(void) {*_clk_lport_set |= _clk_mask;
}inline void  PS2X::CLK_CLR(void) {*_clk_lport_clr |= _clk_mask;
}inline void  PS2X::CMD_SET(void) {*_cmd_lport_set |= _cmd_mask;
}inline void  PS2X::CMD_CLR(void) {*_cmd_lport_clr |= _cmd_mask;
}inline void  PS2X::ATT_SET(void) {*_att_lport_set |= _att_mask;
}inline void PS2X::ATT_CLR(void) {*_att_lport_clr |= _att_mask;
}inline bool PS2X::DAT_CHK(void) {return (*_dat_lport & _dat_mask) ? true : false;
}#endif

arduino文件

#include "PS2X_lib.h"  //for v1.6
#include 
#include 
/******************************************************************* set pins connected to PS2 controller:*   - 1e column: original *   - 2e colmun: Stef?* replace pin numbers by the ones you use******************************************************************/
#define PS2_DAT        6  
#define PS2_CMD        5  
#define PS2_SEL        4 
#define PS2_CLK        3 /******************************************************************* 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 rumble      truePS2X 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;int lx = 0;
int ly=  0;
int L_Speed = 0;
int R_Speed = 0;Servo myservo1,myservo2,myservo3,myservo4;  // create servo object to control a servo
const int SERVOS = 4;  //舵机数4个const int ACC = 10; // the accurancy of the potentiometer value before idle starts counting
int  value[SERVOS], idle[SERVOS], currentAngle[SERVOS], MIN[SERVOS], MAX[SERVOS], INITANGLE[SERVOS], previousAngle[SERVOS],ANA[SERVOS];int Left_motor=8;     //左电机(IN3) 输出0  前进   输出1 后退
int Left_motor_pwm=9;     //左电机PWM调速int Right_motor_pwm=10;    // 右电机PWM调速
int Right_motor=11;    // 右电机后退(IN1)  输出0  前进   输出1 后退void setup(){Serial.begin(57600);myservo1.attach(2);  //手爪电机myservo2.attach(7);  //上臂电机myservo3.attach(12); //下臂电机myservo4.attach(13); //底座电机   //-----电机IO口定-pinMode( 8, OUTPUT);pinMode( 9, OUTPUT);pinMode( 10, OUTPUT);pinMode( 11, OUTPUT);stop();   //手爪 ServoMIN[0] = 10;MAX[0] = 50;INITANGLE[0] = 30;//上臂电机MIN[1] = 10; // This should bring the lever to just below 90deg to groundMAX[1] = 140;INITANGLE[1] = 90; // This should bring the lever parallel with the ground//下臂电机MIN[2] = 40;MAX[2] = 170;INITANGLE[2] = 90;//底座电机MIN[3] = 0;MAX[3] = 170;INITANGLE[3] = 90;//初始化电机myservo1.write(INITANGLE[0]);  myservo2.write(INITANGLE[1]);  myservo3.write(INITANGLE[2]);myservo4.write(INITANGLE[3]);  currentAngle[0]=INITANGLE[0];currentAngle[1]=INITANGLE[1];currentAngle[2]=INITANGLE[2];currentAngle[3]=INITANGLE[3];delay(2000);  //added delay to give wireless ps2 module some time to startup, before configuring itSerial.print("Search Controller..");//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************do{//setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for errorerror = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);if(error == 0){Serial.println("\nConfigured successful ");break;}else{Serial.print(".");delay(100);}}while(1);  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;}//震动一，说明连接ps2x.read_gamepad(true, 200);  //开启震动delay(500);ps2x.read_gamepad(false, 200); //开启震动delay(300);ps2x.read_gamepad(true, 200);  //开启震动delay(500);
}void loop() {/* You must Read Gamepad to get new values and set vibration valuesps2x.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 valuesYou should call this at least once a second*/  ps2x.read_gamepad(false, vibrate);  //开启震动if(ps2x.Button(PSB_START)){         //开始按键Serial.println("Start is being held");ps2x.read_gamepad(true, 200);}if(ps2x.Button(PSB_SELECT))Serial.println("Select is being held");      if(ps2x.Button(PSB_PAD_UP))  //方向按键向上按下{                 Serial.print("Up held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);forward();}else if(ps2x.ButtonReleased(PSB_PAD_UP))  {   //方向按键向上释放stop();      }if(ps2x.Button(PSB_PAD_DOWN))   //方向按键向下按下{            Serial.print("DOWN held this hard: ");Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);back();}else if(ps2x.ButtonReleased(PSB_PAD_DOWN))//方向按键向下释放{  stop();  }if(ps2x.Button(PSB_R1)){                          //侧面开关右R1R_Speed = 0;                 }if(ps2x.Button(PSB_L1)){                          //侧面开关左L1L_Speed = 0;               } if(ps2x.Button(PSB_PAD_LEFT)) //方向按键左侧按下  {                          left();}else if(ps2x.ButtonReleased(PSB_PAD_LEFT))  //方向按键左侧释放{    stop();}if(ps2x.Button(PSB_PAD_RIGHT))   //方向按键右侧按下{                   Serial.println(ps2x.Analog(PSB_PAD_RIGHT));right();}else if(ps2x.ButtonReleased(PSB_PAD_RIGHT))  //方向按键右侧释放{   
//     Serial.println("*****PSB_PAD_RIGHT***** ");stop();     }   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))         //左侧L3Serial.println("L3 pressed");if(ps2x.Button(PSB_R3))         //右侧L3Serial.println("R3 pressed");if(ps2x.Button(PSB_L2))         //左侧L2Serial.println("L2 pressed");if(ps2x.Button(PSB_R2))         //右侧R2Serial.println("R2 pressed");if(ps2x.Button(PSB_TRIANGLE))Serial.println("Triangle pressed");   //三角形按键按下     }if(ps2x.ButtonPressed(PSB_CIRCLE)){               //will be TRUE if button was JUST pressedSerial.println("Circle just pressed");openGripper(); }if(ps2x.NewButtonState(PSB_CROSS)) {      // ×键新键改变Serial.println("X just changed");ps2x.read_gamepad(true, vibrate);       //获取震动值}if(ps2x.ButtonPressed(PSB_SQUARE)) {             //will be TRUE if button was JUST releasedSerial.println("Square just released");closeGripper() ;}if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUESerial.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);      }     value[0] = ps2x.Analog(PSS_LX);value[1] = ps2x.Analog(PSS_RY);value[2] = ps2x.Analog(PSS_LY);value[3] = ps2x.Analog(PSS_RX);for (int i = 0; i < SERVOS; i++){if (value[i] > 130) {if (currentAngle[i] < MAX[i]) currentAngle[i]+=1;
//          Serial.print("value"); 
//          Serial.print(i); 
//          Serial.print(":"); 
//          Serial.println(value[i]);switch(i){case 0:  myservo1.write(currentAngle[i]);break;case 1:  myservo2.write(currentAngle[i]);break;case 2:  myservo3.write(currentAngle[i]);break;case 3:  myservo4.write(currentAngle[i]);break;}   } else if (value[i] < 120) {if (currentAngle[i] > MIN[i]) currentAngle[i]-=1;
//        Serial.print("value"); 
//        Serial.print(i); 
//        Serial.print(":"); 
//        Serial.println(value[i]);switch(i){case 0:  myservo1.write(currentAngle[i]);break;case 1:  myservo2.write(currentAngle[i]);break;case 2:  myservo3.write(currentAngle[i]);break;case 3:  myservo4.write(currentAngle[i]);break;}   }  }  delay(10);
}//Grab something
void openGripper() {myservo1.write(MIN[0]);delay(300);
}//Let go of something
void closeGripper() {myservo1.write(MAX[0]);delay(300);
}void forward()
{digitalWrite(8, LOW);digitalWrite(9, HIGH);digitalWrite(11, LOW); digitalWrite(10, HIGH);
}void right()
{digitalWrite(8, LOW);digitalWrite(9, HIGH);digitalWrite(11, LOW);digitalWrite(10, LOW);
}void back()
{digitalWrite(8, HIGH);digitalWrite(9, HIGH);digitalWrite(11, HIGH);digitalWrite(10, HIGH);
}void left()
{digitalWrite(8, LOW);digitalWrite(9, LOW);digitalWrite(11, LOW);digitalWrite(10, HIGH);
}void stop()
{digitalWrite(8, LOW);digitalWrite(9, LOW);digitalWrite(11, LOW);digitalWrite(10, LOW); 
}

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