Arduino help

Kayos · Feb 13, 2022

I know a few on here use them so thought would be a good place to start

I bought my boy an Arduino powered robot for Christmas, all good fun except neither of us know the first thing about coding.....

The code below will set the robot going forward and (try) avoiding obstacles using the ultrasonic sensors, this can be over ridden with the PS2 style controller, as a starting point I'd like to make it just respond to the PS2 controller.
I have unplugged the sensor but it still goes forward with no input, I deleted the sensor section of code but it then did nothing

Is anyone able to show me how to modify the code to make it just respond to the controller inputs?

Thanks

#include <PS2X_lib.h> //for v1.6
#include <oseppRobot.h>
#include <avr/wdt.h>
/******************************************************************
set pins connected to PS2 controller:
- 1e column: original
- 2e colmun: Stef?
replace pin numbers by the ones you use
******************************************************************/
#define PS2_DAT A3 //14
#define PS2_CMD A2 //15
#define PS2_SEL A1 //16
#define PS2_CLK A0 //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()
{
wdt_disable();
Serial.begin(115200);

delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it

//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");

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;
}

pinMode(13,OUTPUT);
digitalWrite(13,LOW);
}

OseppTBMotor L(12, 11);
OseppTBMotor R(8, 3);
OseppRangeFinder U(2);

unsigned long begin=0;

void loop()
{
if(analogRead(A4)>300){
digitalWrite(13,HIGH);
} else {
digitalWrite(13,LOW);
}
if (error == 1 || type != 1)
{
L.forward(0);
R.forward(0);
Serial.println("丢失遥控器信号");
delay(500);
wdt_enable(WDTO_15MS);
while (1)
{
}
}

// 复位变量，依次为：前进，平移，转向
int my = 0;
int mx = 0;

// 按钮功能处理
ps2x.read_gamepad(false, vibrate);

if (ps2x.Button(PSB_PAD_DOWN))
{
my = -150;
}
else if (ps2x.Button(PSB_PAD_UP))
{
my = 150;
}
else
{
my = (127 - ps2x.Analog(PSS_LY)) * 2;
if (abs(my) < 20)
{
my = (127 - ps2x.Analog(PSS_RY)) * 2;
}
}

if (ps2x.Button(PSB_PAD_LEFT))
{
mx = -150;
}
else if (ps2x.Button(PSB_PAD_RIGHT))
{
mx = 150;
}
else
{
mx = (ps2x.Analog(PSS_LX) - 127) * 2;
}
int sl = my + mx;
int sr = my - mx;

if (abs(sl) > 10 || abs(sr) > 10) {
L.forward(sl);
R.forward(sr);
} else {
if (U.ping() < 350) {
begin = millis();
while (U.ping() < 100) {
L.backward(100);
R.backward(100);
}
if (random(0, 2)) {
L.forward(200);
R.backward(200);
} else {
L.backward(200);
R.forward(200);
}
while (U.ping() < 400) {
if (millis() - begin > 3000) {
break;
}
}
} else if (U.ping() < 700) {
L.forward(map(U.ping(), 350, 700, 80, 200));
R.forward(map(U.ping(), 350, 700, 80, 200));
} else {
L.forward(200);
R.forward(200);
}
}

delay(20);
}

Hopefuldave · Feb 13, 2022

All the if (uping .... Are reading the ultrasonic sensors, and when a low number back it out and turn randomly to avoid obstacles, that's where to concentrate!
Everything before void(loop) is setup code to handle the controller and motor, don't touch that...
Everything from then on repeats as fast as the processor can go subject to delay() to slow it down.
You may be able to edit out the ranging code, or fool it by looking at the back-out and turn 'ifs' and putting a fixed number instead of uping() e.g if (1 == 0) - never true, so won't run the following code - or if (1==1) - always true, always runs it.

Good luck, you can't break it!

Dave H. (the other one)

m_c · Feb 13, 2022

I've just been working on modifying some code for my old Arduino timing system this week, so have everything installed.

Having had a quick scan over the code, I'll break it down into sections for you.

Code:

#include <PS2X_lib.h> //for v1.6
#include <oseppRobot.h>
#include <avr/wdt.h>
/******************************************************************
set pins connected to PS2 controller:
- 1e column: original
- 2e colmun: Stef?
replace pin numbers by the ones you use
******************************************************************/
#define PS2_DAT A3 //14
#define PS2_CMD A2 //15
#define PS2_SEL A1 //16
#define PS2_CLK A0 //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()
{
wdt_disable();
Serial.begin(115200);

delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it

//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");

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;
}

pinMode(13,OUTPUT);
digitalWrite(13,LOW);
}

OseppTBMotor L(12, 11);
OseppTBMotor R(8, 3);
OseppRangeFinder U(2);

unsigned long begin=0;

This section deals with establishing what controller is connected, and the initial setup of various variables.
If you have the robot connected to a computer, and open the Serial Monitor, when rebooted, it should output what controller is found (The Serial.print statements output to the serial port, which needs a suitable terminal program to see.)
Depending on which controller you're using, you may want to look at the defines to enable the analog reading/rumble motor-

Code:

/******************************************************************
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

The next section is into the continuous running looped code, which can be split into a few sections.

Code:

void loop()
{
if(analogRead(A4)>300){
digitalWrite(13,HIGH);
} else {
digitalWrite(13,LOW);
}
if (error == 1 || type != 1)
{
L.forward(0);
R.forward(0);
Serial.println("丢失遥控器信号");
delay(500);
wdt_enable(WDTO_15MS);
while (1)
{
}
}

Without knowing what is actually connected to pin A4, or 13, I'm not entirely sure what this is controlling, but if A4 is over 300 (IIRC that makes it 0.3V, but I could be wrong as I've not used the Analog scaling for a long time!), it sets pin 13 high, or if under 300, sets pin 13 Low.
Then if there is an error, or type doesnt equal 1, it sets all movement to zero, waits 500ms, enables the watchdog timer with a 15ms delay, then enters an infinite while loop. This will cause the watchdog timer to reboot the arduino after 15ms (the watchdog timer is a safety timer, that if it's not reset using wdt_reset() within the set time frame, it will reset the microcontroller).

The next bit is where things get a bit more interesting.

Code:

// 复位变量，依次为：前进，平移，转向
int my = 0;
int mx = 0;

// 按钮功能处理
ps2x.read_gamepad(false, vibrate);

if (ps2x.Button(PSB_PAD_DOWN))
{
my = -150;
}
else if (ps2x.Button(PSB_PAD_UP))
{
my = 150;
}
else
{
my = (127 - ps2x.Analog(PSS_LY)) * 2;
if (abs(my) < 20)
{
my = (127 - ps2x.Analog(PSS_RY)) * 2;
}
}

if (ps2x.Button(PSB_PAD_LEFT))
{
mx = -150;
}
else if (ps2x.Button(PSB_PAD_RIGHT))
{
mx = 150;
}
else
{
mx = (ps2x.Analog(PSS_LX) - 127) * 2;
}
int sl = my + mx;
int sr = my - mx;

my and mx are the two variables used to calculate the motion direction needed. my being forward/revers, and mx left/right.
The two if, elseif, else, statements do the same thing for each axis.
If you're using digital buttons, it sets my or mx to 150/-150 (forward/backwards, or right/left respectively), or if using analog inputs, the analog input scaled suitably.

The sl/sr variables then calculate and store the individual motor motion required, to create the motion direction required.

The next bit of code is where the sensor input is used, and I'll add the comments in the code

Code:

if (abs(sl) > 10 || abs(sr) > 10) {   // if sl or sr has a value over 10, then use that value to set the motors.
L.forward(sl);
R.forward(sr);
} else {     // else, no controller button has been pressed, so we default to the sensor
if (U.ping() < 350) {  // if sensing value is less than 350, we set begin to current time (millis() is the number of milliseconds since the controller booted)
begin = millis();
while (U.ping() < 100) { // if sensing value is less than 100, reverse both motors
L.backward(100);
R.backward(100);
}
if (random(0, 2)) {  // random(0,2), generates a random number in the range of 0 and 1, and is used by the if to determine whether to randomly turn right or left
L.forward(200);
R.backward(200);
} else {
L.backward(200);
R.forward(200);
}
while (U.ping() < 400) {  // while our sensor value is less than 400, keep looping for up to 3000 milliseconds, an if the value is still less than 400, break (exit) the while loop.
if (millis() - begin > 3000) {
break;
}
}
} else if (U.ping() < 700) { // if the sensor value is less than 700, map the sensor value to the motor speed value
L.forward(map(U.ping(), 350, 700, 80, 200));
R.forward(map(U.ping(), 350, 700, 80, 200));
} else { // else, set the motors speeds to 200
L.forward(200);
R.forward(200);
}
}

And finally, we have a 20ms delay to give some primitive damping to the motor control.

Code:

delay(20);
}

However, the condensed answer is, all you need to do is remove all the sensor related stuff, and add code to stop the motors if no button is pressed -

Code:

if (abs(sl) > 10 || abs(sr) > 10) {   // if sl or sr has a value over 10, then use that value to set the motors.
L.forward(sl);
R.forward(sr);
} else {
L.forward(0);
R.forward(0);
}

mtt.tr · Feb 13, 2022

Hopefuldave said:
All the if (uping .... Are reading the ultrasonic sensors, and when a low number back it out and turn randomly to avoid obstacles, that's where to concentrate!
Everything before void(loop) is setup code to handle the controller and motor, don't touch that...
Everything from then on repeats as fast as the processor can go subject to delay() to slow it down.
You may be able to edit out the ranging code, or fool it by looking at the back-out and turn 'ifs' and putting a fixed number instead of uping() e.g if (1 == 0) - never true, so won't run the following code - or if (1==1) - always true, always runs it.

Good luck, you can't break it!

Dave H. (the other one)

This is personally annoying me as I think I know how i would change it but don't have the thing to test the code.

Hopefuldave · Feb 13, 2022

mtt.tr said:
mtt.tr said:

This is personally annoying me as I think I know how i would change it but don't have the thing to test the code.

Click to expand...

Drive a few LEDs, increase the delay so you can see what it's doing?

Dave H. (the other one)

mtt.tr · Feb 13, 2022

Hopefuldave said:
Dave H. (the other one)

I was thinking i could just get it to serial print the inputs thats how I would design it at my computer

Kayos · Feb 13, 2022

@m_c absolute legend, works perfectly. I have managed to pry a 10 year old from Roblox, admittedly still using the PC to program but he is now exploring the limits of the tanks climbing abilities

@mtt.tr Thanks for the help over text, I agree the language makes no sense

mtt.tr · Feb 13, 2022

m_c said:
I've just been working on modifying some code for my old Arduino timing system this week, so have everything installed.

Having had a quick scan over the code, I'll break it down into sections for you.

Code:

#include <PS2X_lib.h> //for v1.6 #include <oseppRobot.h> #include <avr/wdt.h> /****************************************************************** set pins connected to PS2 controller: - 1e column: original - 2e colmun: Stef? replace pin numbers by the ones you use ******************************************************************/ #define PS2_DAT A3 //14 #define PS2_CMD A2 //15 #define PS2_SEL A1 //16 #define PS2_CLK A0 //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() { wdt_disable(); Serial.begin(115200); delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it //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"); 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; } pinMode(13,OUTPUT); digitalWrite(13,LOW); } OseppTBMotor L(12, 11); OseppTBMotor R(8, 3); OseppRangeFinder U(2); unsigned long begin=0;

This section deals with establishing what controller is connected, and the initial setup of various variables.
If you have the robot connected to a computer, and open the Serial Monitor, when rebooted, it should output what controller is found (The Serial.print statements output to the serial port, which needs a suitable terminal program to see.)
Depending on which controller you're using, you may want to look at the defines to enable the analog reading/rumble motor-

Code:

/****************************************************************** 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

The next section is into the continuous running looped code, which can be split into a few sections.

Code:

void loop() { if(analogRead(A4)>300){ digitalWrite(13,HIGH); } else { digitalWrite(13,LOW); } if (error == 1 || type != 1) { L.forward(0); R.forward(0); Serial.println("丢失遥控器信号"); delay(500); wdt_enable(WDTO_15MS); while (1) { } }

Without knowing what is actually connected to pin A4, or 13, I'm not entirely sure what this is controlling, but if A4 is over 300 (IIRC that makes it 0.3V, but I could be wrong as I've not used the Analog scaling for a long time!), it sets pin 13 high, or if under 300, sets pin 13 Low.
Then if there is an error, or type doesnt equal 1, it sets all movement to zero, waits 500ms, enables the watchdog timer with a 15ms delay, then enters an infinite while loop. This will cause the watchdog timer to reboot the arduino after 15ms (the watchdog timer is a safety timer, that if it's not reset using wdt_reset() within the set time frame, it will reset the microcontroller).

The next bit is where things get a bit more interesting.

Code:

// 复位变量，依次为：前进，平移，转向 int my = 0; int mx = 0; // 按钮功能处理 ps2x.read_gamepad(false, vibrate); if (ps2x.Button(PSB_PAD_DOWN)) { my = -150; } else if (ps2x.Button(PSB_PAD_UP)) { my = 150; } else { my = (127 - ps2x.Analog(PSS_LY)) * 2; if (abs(my) < 20) { my = (127 - ps2x.Analog(PSS_RY)) * 2; } } if (ps2x.Button(PSB_PAD_LEFT)) { mx = -150; } else if (ps2x.Button(PSB_PAD_RIGHT)) { mx = 150; } else { mx = (ps2x.Analog(PSS_LX) - 127) * 2; } int sl = my + mx; int sr = my - mx;

my and mx are the two variables used to calculate the motion direction needed. my being forward/revers, and mx left/right.
The two if, elseif, else, statements do the same thing for each axis.
If you're using digital buttons, it sets my or mx to 150/-150 (forward/backwards, or right/left respectively), or if using analog inputs, the analog input scaled suitably.

The sl/sr variables then calculate and store the individual motor motion required, to create the motion direction required.

The next bit of code is where the sensor input is used, and I'll add the comments in the code

Code:

if (abs(sl) > 10 || abs(sr) > 10) { // if sl or sr has a value over 10, then use that value to set the motors. L.forward(sl); R.forward(sr); } else { // else, no controller button has been pressed, so we default to the sensor if (U.ping() < 350) { // if sensing value is less than 350, we set begin to current time (millis() is the number of milliseconds since the controller booted) begin = millis(); while (U.ping() < 100) { // if sensing value is less than 100, reverse both motors L.backward(100); R.backward(100); } if (random(0, 2)) { // random(0,2), generates a random number in the range of 0 and 1, and is used by the if to determine whether to randomly turn right or left L.forward(200); R.backward(200); } else { L.backward(200); R.forward(200); } while (U.ping() < 400) { // while our sensor value is less than 400, keep looping for up to 3000 milliseconds, an if the value is still less than 400, break (exit) the while loop. if (millis() - begin > 3000) { break; } } } else if (U.ping() < 700) { // if the sensor value is less than 700, map the sensor value to the motor speed value L.forward(map(U.ping(), 350, 700, 80, 200)); R.forward(map(U.ping(), 350, 700, 80, 200)); } else { // else, set the motors speeds to 200 L.forward(200); R.forward(200); } }

And finally, we have a 20ms delay to give some primitive damping to the motor control.

Code:

delay(20); }

However, the condensed answer is, all you need to do is remove all the sensor related stuff, and add code to stop the motors if no button is pressed -

Code:

if (abs(sl) > 10 || abs(sr) > 10) { // if sl or sr has a value over 10, then use that value to set the motors. L.forward(sl); R.forward(sr); } else { L.forward(0); R.forward(0); }

Good man! For breaking it down.

Kayos · Feb 13, 2022

The cat isn't sure about it though

mcostello · Feb 14, 2022

Is that supposed to be something that is easy to program? :doh:

Arduino help

Kayos

Gone......

Hopefuldave

Intergalactic pot-mender

m_c

Member

mtt.tr

Member

Hopefuldave

Intergalactic pot-mender

mtt.tr

Member

Kayos

Gone......

mtt.tr

Member

Kayos

Gone......

mcostello

Member