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 pressed unsigned int ButtonDataByte(); boolean NewButtonState(); boolean NewButtonState(unsigned int); //will be TRUE if button was JUST pressed OR released boolean ButtonPressed(unsigned int); //will be TRUE if button was JUST pressed boolean ButtonReleased(unsigned int); //will be TRUE if button was JUST released void 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; #else uint8_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; #endif unsigned long last_read; byte read_delay; byte controller_type; boolean en_Rumble; boolean en_Pressures; }; #endif