Arduino and A ps3 Controller

sault73 — Tue, 16 Dec 2014 18:03:34 GMT

USING A USB HOST SHIELD AND A BLUETOOTH DONGLE TO GET DATA FROM A PS3 CONTROLLER:

I’m interested in using a PS3 controller as the remote for future projects/robots. Having received all of the required hardware, I decided to make this video explaining the process of setting up the PS3 controller and Arduino for communication via Bluetooth. See below the video for details. UPDATE: The latest USB host library does not print out any debug information, so you won’t see any of the information that is printed out below “Bluetooth Library Started.” You should still be able to connect your PS3 controller and see it’s data output in the terminal.

A USB host shield: Circuits@home and Sparkfun.

A Bluetooth dongle: The wiki page for using a PS3 controller will have a list of compatible dongles (although note that in the video I mention that one of the “supported” dongles doesn’t in fact work).

Here are the two I have: The black one (working) and the green one(not working, although listed as compatible). These are also confirmed working (by the developers): Kingston and Zoom.The Software (besides the Arduino IDE):UPDATE: Some people have had trouble with the newer versions of the USB host shield library.

The new library does not print out the debug information you see in my video and the sketch will become too large to upload to an UNO if you turn the debugging on. If you would like to use the exact same version I use in my video (and am still using), you can get it here.

You can get the latest version of the USB host shield library below.You will need to download the entire USB host shield library from GitHub. This is a direct download link, but if you’d like to take a look around the repository go here.

Install the library as you would any other (if you haven’t done this before see this page), and open the “PS3BT” example as I show in the video (File –> Examples –> (Whatever you named the library) –> Bluetooth –> PS3BT). Remember that the Arduino doesn’t allow for dots (.) or dashes (-) in the library folder name, so when you download the library (which for some reason does have dots and dashes in its folder name) you will have to rename for the Arduino IDE to recognize it.If there is something I forgot to include here, or if you have a question about something in the video, please ask.

Code

/* Barrett Anderies
   March 11, 2013
   This is a modified version of the PS3BT.ino example sketch by Kristian Lauszus
   For more information visit his blog: http://blog.tkjelectronics.dk/ or
   send him an e-mail:  kristianl@tkjelectronics.com
   */

#include                     //Include the necessary libraries.
#include

USB Usb;
BTD Btd(&Usb);
PS3BT PS3(&Btd);

Servo servo1;                    //Create instances of type Servo. servo1 is the steering servo and servo2 is the ESC.
Servo servo2;

void setup() {
    Serial.begin(115200);
    if (Usb.Init() == -1) {
      Serial.print(F("\r\nOSC did not start"));
      while(1); //halt
    }
    Serial.print(F("\r\nPS3 Bluetooth Library Started"));
    pinMode(3, OUTPUT);
    pinMode(5, OUTPUT);
    servo1.attach(5);                    //Steering servo on digital pin 5
    servo2.attach(3);                    //ESC on sigital pin 3
}
void loop()
{
    Usb.Task();

    if(PS3.PS3Connected || PS3.PS3NavigationConnected) {

      servo1.write(map(PS3.getAnalogHat(RightHatX), 0, 255, 0, 180));
      servo2.write(map(PS3.getAnalogHat(LeftHatY), 0, 255, 180, 0));
    }
    else
     {
      servo1.write(90);
      servo2.write(90);
     }

      if(PS3.getButtonClick(PS)) {
        PS3.disconnect();
     }
}

ARDUINO SAINSMART 4WD ROBOT

sault73 — Tue, 26 Aug 2014 10:29:59 GMT

A while back I purchased the Sainsmart 4WD Arduino robot. I had virtually zero experience building or programming an autonomous robot so I thought the project would be a great learning experience.

The Kit includes a 4WD robot chassis, Arduino Mega 2560, L298N dual H Bridge driver, sensor shield, wiring and various other items needed.

I decided to document the builds and improvements from start to finish via my YouTube videos so others could benefit. I guess they were pretty good because Sainsmart linked almost all of them to the product listings on their web page

Code

// robot.ino
/*
Following code by EricWillaim
All build information, code and forum posts/discussion can be found at:
http://mkme.org

Dedicated build page:
http://www.mkme.org/index.php/arduino-sainsmart-4wd-robot/

This is my attempt at programming the Sainsmart 4WD robot
So far it now checks for a new direction periodically and performs
backup and turn functions as in reaction to the environment it is presented.
It is by far not optimized code- but works for now
I will update this periodically as I get time to learn new methods and improve the code.
Please check out my Youtube videos here and consider a thumbs up if this helped you!
Youtube : http://www.youtube.com/user/Shadow5549

Some portions of this code adapted from:
http://www.duino-robotics.com/

V9 Dec 12 2013:
Added a forward distance check after turns- will continue to turn if distance still too small
Minor Tweaks but still using delay functions

V10 May 2014
Added support for Roam mode- serial commands will toggle roam versus individual driving commands
*/

#include //servo library
#include "pitches.h"// used for the speaker output
#define SPEAKER 4// Speaker Pin

Servo headservo;
const int EchoPin = 2; // Ultrasonic signal input
const int TrigPin = 3; // Ultrasonic signal output
const int leftmotorpin1 = 8; //signal output of Dc motor driven plate
const int leftmotorpin2 = 9;
const int rightmotorpin1 = 6;
const int rightmotorpin2 = 7;
const int HeadServopin = 5; // signal input of headservo
const int maxStart = 800; //run dec time- no clue what this is
unsigned long time; //used for upcoming improvements (time used instead of loops)
unsigned long time1; //used for upcoming improvements (time used instead of loops)
int add= 0; //used for nodanger loop count
int add1= 0;  //used for nodanger loop count
int roam = 1;
int currDist = 5000; // distance
boolean running = false;// This is from old code examples

void setup() {
   //initialize beeps
   tone(SPEAKER, NOTE_C7, 100);
   delay(500);
   tone(SPEAKER, NOTE_C6, 100);
   tone(SPEAKER, NOTE_C7, 100);
   delay(500);
   tone(SPEAKER, NOTE_C6, 100);
   tone(SPEAKER, NOTE_C7, 100);
   delay(500);
   tone(SPEAKER, NOTE_C6, 100);
   //End Initialize Beeps

Serial.begin(9600); // Enables Serial monitor for debugging purposes
Serial.println("Serial Data Initiated!"); // Test the Serial communication
pinMode(EchoPin, INPUT);//signal input port

//signal output port
for (int pinindex = 3; pinindex < 10; pinindex++) {
pinMode(pinindex, OUTPUT); // set pins 3 to 10 as outputs
}

// headservo interface
headservo.attach(HeadServopin);
//start buffer movable head
headservo.write(160);
delay(1000);
headservo.write(20);
delay(1000);
headservo.write(90);
delay(1000);
return;
}
void loop()

   {
   if (Serial.available() > 0)
   {
     int data = Serial.read();   //read serial input commands
     switch(data)
     {
     case 'w' :
       Serial.println("Rolling!");
       moveForward();
       break;
     case 'x' :
       backup();
       buzz();
       break;
     case 'a' :
       body_lturn();
       buzz();
       break;
     case 'd' :
       body_rturn();
       buzz();
       break;
     case 's' :
       totalhalt();
       break;
     case 'r' :
       toggleRoam();
       buzz();
       break;

       }
   }

   if(roam == 0){ //just listen to serial commands and wait
    // Do something else if you like
   }
   else if(roam == 1){  //If roam active- drive autonymously



//time = millis(); // Sets "time" to current system time count
currDist = MeasuringDistance(); //measure front distance
Serial.print("Current Forward Distance: ");
//Serial.println(currDist);
if(currDist > 35) {
   add = (add1++);// Start adding up the loop count done in nodanger
nodanger();
Serial.println("Nodanger: ");
}
else if(currDist < 35){
   //add=0;
   Serial.println("Forward Blocked- Decide Which Way");
   backup();
   whichway();

}
   }

   }
//measure distance, unit “cm”
long MeasuringDistance() {
long duration;
//pinMode(TrigPin, OUTPUT);
digitalWrite(TrigPin, LOW);
delayMicroseconds(2);
digitalWrite(TrigPin, HIGH);
delayMicroseconds(5);
digitalWrite(TrigPin, LOW);
//pinMode(EchoPin, INPUT);
duration = pulseIn(EchoPin, HIGH);
return duration / 29 / 2;
}


// forward
void moveForward() {
analogWrite(leftmotorpin1, 0);//Changed these to analog write for slower
analogWrite(leftmotorpin2, 120);
analogWrite(rightmotorpin1, 0);
analogWrite(rightmotorpin2, 120);
}

void toggleRoam(){
if(roam == 0){
    roam = 1;
    Serial.println("Activated Roam Mode");
   }
   else{
     roam = 0;
     totalhalt();
     Serial.println("De-activated Roam Mode");
   }
}

void nodanger() {
running = true;// Do I need these?
analogWrite(leftmotorpin1, 0);//Changed these to analog write for slower
analogWrite(leftmotorpin2, 120);
analogWrite(rightmotorpin1, 0);
analogWrite(rightmotorpin2, 120);
if (add1 > 38 ) whichway(); // Robot will stop and check direction every X loops through nodanger then resets in totalhalt (40 is good)
return;
}

//backward
void backup() {
add1=0; // resets the counter for the nodanger loops
running = true;//Do I need these?
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, LOW);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, LOW);
Serial.println("Backing Up");
fart();
}

//choose which way to turn
void whichway() {
running = true;//Do I need these?
totalhalt();
headservo.write(160);
delay(900);
int lDist = MeasuringDistance(); // check left distance
Serial.println("checking left");
Serial.println(lDist);
headservo.write(20); // turn the servo right
delay(900);
int rDist = MeasuringDistance(); // check right distance
Serial.println("checking right");
Serial.println(rDist);
//totalhalt(); //  Do I need this???  Used to be used to centre the servo
if(lDist < rDist) {
Serial.println("Decided Right Is Best");
buzz();// Make him talk
body_rturn();
totalhalt();
currDist = MeasuringDistance(); //measure front distance
if(currDist < 45) body_rturn();  //if front distance still too small- turn again
}
else{
Serial.println("Decided Left Is Best");
   buzz();// Make him talk
   body_lturn();
   totalhalt();
   currDist = MeasuringDistance(); //measure front distance
   if(currDist < 45) body_lturn();// if front distance still too small- turn again
    }
return;
}

void totalhalt() {
digitalWrite(leftmotorpin1, HIGH);
digitalWrite(leftmotorpin2, HIGH);
digitalWrite(rightmotorpin1, HIGH);
digitalWrite(rightmotorpin2, HIGH);
Serial.println("Totalhalt!");
headservo.write(90); // set servo to face forward
delay(250);
running = false;//Do I need these?
add1=0; // resets the counter for the nodanger loops
return;
}

//turn left
void body_lturn() {
running = true;
analogWrite(leftmotorpin1, 0);
analogWrite(leftmotorpin2, 220);
analogWrite(rightmotorpin1, 220);
analogWrite(rightmotorpin2, 0);
Serial.println("Turning Left");
delay(400);
}

//turn right
void body_rturn() {
running = true;
analogWrite(leftmotorpin1, 220);
analogWrite(leftmotorpin2, 0);
analogWrite(rightmotorpin1, 0);
analogWrite(rightmotorpin2, 220);
Serial.println("Turning Right");
delay(400);
}

void buzz(){
tone(SPEAKER, NOTE_C7, 100);
delay(50);
tone(SPEAKER, NOTE_C6, 100);
}

void fart(){
  tone(SPEAKER, NOTE_C2, 200);
  delay(50);
  tone(SPEAKER, NOTE_C1, 400);
  delay(100);
  noTone(SPEAKER);
}

DE CODER.com

Arduino and A ps3 Controller

ARDUINO SAINSMART 4WD ROBOT