• ESP32智能小车+PS2无线遥控器+麦克纳姆轮+microPython

    1. from machine import Pin,PWM
    2. from ps2 import PS2Controller
    3. import time
    4. import os
    5.  
    6. # #############################################
    7. # PS2 遥控器
    8. # #############################################
    9. ps2ctl = PS2Controller(di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12)
    10. ps2ctl.init()
    11.  
    12. # #############################################
    13. # 小车轮子控制
    14. # #############################################
    15. pin1=PWM(Pin(19),freq=1000)  #左前 红1
    16. pin2=PWM(Pin(18),freq=1000)
    17. pin3=PWM(Pin( 5),freq=1000)  #左后 红3
    18. pin4=PWM(Pin(17),freq=1000)
    19. pin5=PWM(Pin(16),freq=1000)  #右前 黑5
    20. pin6=PWM(Pin( 4),freq=1000)
    21. pin7=PWM(Pin( 0),freq=1000)  #右后 黑7
    22. pin8=PWM(Pin( 2),freq=1000)
    23.  
    24. #前进
    25. def car_forward(speed):
    26.   pin1.duty(speed)  #左前
    27.   pin2.duty(0)
    28.   pin3.duty(speed)  #左后
    29.   pin4.duty(0)
    30.   pin5.duty(speed)  #右前
    31.   pin6.duty(0)
    32.   pin7.duty(speed)  #右后
    33.   pin8.duty(0)  
    34.  
    35. #后退、倒车、倒转
    36. def car_back(speed):
    37.   pin1.duty(0)     #左前
    38.   pin2.duty(speed)
    39.   pin3.duty(0)     #左后
    40.   pin4.duty(speed)
    41.   pin5.duty(0)     #右前
    42.   pin6.duty(speed)  
    43.   pin7.duty(0)     #右后
    44.   pin8.duty(speed)  
    45.  
    46. # 普通左转 = 左前、左后后退， 右前、右后前进
    47. def car_left(speed):
    48.   pin1.duty(0)     #左前
    49.   pin2.duty(speed)
    50.   pin3.duty(0)     #左后
    51.   pin4.duty(speed)
    52.   pin5.duty(speed)     #右前
    53.   pin6.duty(0)  
    54.   pin7.duty(speed)     #右后
    55.   pin8.duty(0)  
    56.  
    57. # 普通右转 = 左前、左后前进， 右前、右后后退  
    58. def car_right(speed):
    59.   pin1.duty(speed)   #左前
    60.   pin2.duty(0)
    61.   pin3.duty(speed)   #左后
    62.   pin4.duty(0)
    63.   pin5.duty(0)     #右前
    64.   pin6.duty(speed)  
    65.   pin7.duty(0)     #右后
    66.   pin8.duty(speed)  
    67.  
    68. #停车、停止
    69. def car_stop():
    70.   pin1.duty(0)
    71.   pin2.duty(0)
    72.   pin3.duty(0)
    73.   pin4.duty(0)
    74.   pin5.duty(0)
    75.   pin6.duty(0)
    76.   pin7.duty(0)
    77.   pin8.duty(0)
    78.  
    79. #  左平移=左前倒转、左后前进、右前前进、右后倒转
    80. def car_left_pingyi(speed):
    81.   pin1.duty(0)  #左前
    82.   pin2.duty(speed)
    83.   pin3.duty(speed)  #左后
    84.   pin4.duty(0)
    85.   pin5.duty(speed)  #右前
    86.   pin6.duty(0)
    87.   pin7.duty(0)  #右后
    88.   pin8.duty(speed)  
    89.   
    90. #  右平移=左前前进、左后倒转、右前倒转、右后前进
    91. def car_right_pingyi(speed):
    92.   pin1.duty(speed)  #左前
    93.   pin2.duty(0)
    94.   pin3.duty(0)  #左后
    95.   pin4.duty(speed)
    96.   pin5.duty(0)  #右前
    97.   pin6.duty(speed)
    98.   pin7.duty(speed)  #右后
    99.   pin8.duty(0) 
    100.  
    101. # 左上角 = 左前不动、左后前进、右前前进、右后不动
    102. def car_left_up(speed):
    103.   pin1.duty(0)  #左前
    104.   pin2.duty(0)
    105.   pin3.duty(speed)  #左后
    106.   pin4.duty(0)
    107.   pin5.duty(speed)  #右前
    108.   pin6.duty(0)
    109.   pin7.duty(0)  #右后
    110.   pin8.duty(0)  
    111.   
    112. # 左下角 = 左前倒退、左后不动、右前不动、右后倒退
    113. def car_left_down(speed):
    114.   pin1.duty(0)  #左前
    115.   pin2.duty(speed)
    116.   pin3.duty(0)  #左后
    117.   pin4.duty(0)
    118.   pin5.duty(0)  #右前
    119.   pin6.duty(0)
    120.   pin7.duty(0)  #右后
    121.   pin8.duty(speed)  
    122.   
    123. # 右上角 =  左前前进、左后不动、右前不动、右后前进
    124. def car_right_up(speed):
    125.   pin1.duty(speed)  #左前
    126.   pin2.duty(0)
    127.   pin3.duty(0)  #左后
    128.   pin4.duty(0)
    129.   pin5.duty(0)  #右前
    130.   pin6.duty(0)
    131.   pin7.duty(speed)  #右后
    132.   pin8.duty(0)    
    133.   
    134. # 右下角 =  左前不动、左后倒退、右前倒退、右后不动
    135. def car_right_down(speed):
    136.   pin1.duty(0)  #左前
    137.   pin2.duty(0)
    138.   pin3.duty(0)  #左后
    139.   pin4.duty(speed)
    140.   pin5.duty(0)  #右前
    141.   pin6.duty(speed)
    142.   pin7.duty(0)  #右后
    143.   pin8.duty(0)   
    144.   
    145. # ##################################################  
    146. # 主循环开始！！！
    147. # ##################################################
    148. i=1  #循环次数
    149. speed=400   #初始速度，最高1000. 低于400容易电压太低驱动不了
    150. print("小车程序开始运行，正在等待PS2遥控器按键(按start停车)")
    151. try:
    152.   while True:
    153.  
    154.     key_car= ps2ctl.read_once()   # 收到的字符格式为 keys:UP,RIGHT: pos(lx,ly):0,-1: pos(rx,ry): 0,-1:
    155.     #print("检测到按键：",key_car)    
    156.     key_list= key_car.split(':')  # 用：来将字符串进行分割，写入数组key_list中
    157.     # key_list[1]  输入的按键
    158.     # key_list[3]  左摇杆坐标
    159.     # key_list[5]  右摇杆坐标
    160.  
    161.     # 停止 = 遥控器 start = 4    
    162.     if key_list[1]=="START" : 
    163.       print(key_car," 停止.......")
    164.       car_stop()
    165.  
    166.     # 前进 = 遥控器 左摇杆 上 = 5
    167.     # 前进 = 遥控器 右摇杆 上 = 13    
    168.     if key_list[1]=="UP" or key_list[1]=="TRIANGLE": 
    169.       print(key_car," 前进")
    170.       car_forward(speed)
    171.       
    172.     # 后退 = 遥控器 左摇杆 下 = 7 
    173.     # 后退 = 遥控器 右摇杆 下 = 15          
    174.     if key_list[1]=="DOWN" or key_list[1]=="CROSS": 
    175.       print(key_car," 后退")
    176.       car_back(speed)
    177.  
    178.     # 左平移 = 遥控器 左摇杆左 = 8
    179.     if key_list[1]=="LEFT": 
    180.       print(key_car," 左平移")
    181.       car_left_pingyi(speed)
    182.       
    183.     # 右平移 = 遥控器 左摇杆右 = 6
    184.     if key_list[1]=="RIGHT": 
    185.       print(key_car," 右平移")
    186.       car_right_pingyi(speed)
    187.       
    188.     # 左转 = 遥控器 右摇杆 左 = 16
    189.     if key_list[1]=="SQUARE" : 
    190.       print(key_car," 左转")
    191.       car_left(speed)
    192.     
    193.     # 右转 = 遥控器 右摇杆 右 = 14
    194.     if key_list[1]=="CIRCLE": 
    195.       print(key_car," 右转")
    196.       car_right(speed) 
    197.       
    198.     # 左上方 = 遥控器 左L1 = 11
    199.     if key_list[1]=="UP,LEFT": 
    200.       print(key_car," 左上方")
    201.       car_left_up(speed) 
    202.       
    203.     # 左下方 = 遥控器 左L2 = 9
    204.     if key_list[1]=="DOWN,LEFT": 
    205.       print(key_car," 左下方")
    206.       car_left_down(speed) 
    207.       
    208.     # 右上方 = 遥控器 右R1 = 12
    209.     if key_list[1]=="UP,RIGHT": 
    210.       print(key_car," 右上方")
    211.       car_right_up(speed) 
    212.  
    213.     # 右下方 = 遥控器 右R2 = 10  
    214.     if key_list[1]=="RIGHT,DOWN": 
    215.       print(key_car," 右下方")
    216.       car_right_down(speed) 
    217.       
    218.     # L1 加速
    219.     if key_list[1]=="L1"  and speed<1000: 
    220.       speed=speed+100
    221.       print("当前速度已经加速至：",speed)
    222.       
    223.     # L2 减速
    224.     if key_list[1]=="L2"  and speed>400: 
    225.       speed=speed-100
    226.       print("当前速度已经降低至：",speed)  
    227.       
    228.     # 右侧 三角+X，同时按下，删除main.py 取消自动启动
    229.     if key_list[1]=="TRIANGLE,CROSS" : 
    230.       os.remove("main.py")
    231.       print("-----------  main.py 已经删除 ----------")       
    232.       car_stop()
    233.  
    234.     # SELECT = 1    L3 = 2    R3 = 3    START = 4    
    235.     # UP = 5    RIGHT = 6    DOWN = 7    LEFT = 8    
    236.     # L2 = 9    R2 = 10    L1 = 11    R1 = 12
    237.     # TRIANGLE = 13    CIRCLE = 14    CROSS = 15    SQUARE = 16
    238.   
    239.     i=i+1
    240.     time.sleep(0.1)
    241.     
    242. except KeyboardInterrupt:
    243.     print('KeyboardInterrupt 程序被人为中止....')
    244. finally:
    245.     pin1.deinit()
    246.     pin2.deinit()
    247.     pin3.deinit()
    248.     pin4.deinit()
    249.     pin5.deinit()
    250.     pin6.deinit()
    251.     pin7.deinit()
    252.     pin8.deinit()    
    253.     print('Exit 程序共运行了'+str(i)+'次，程序结束。')

    需要用到ps2.py文件，可查看ESP32+PS2 无线手柄转接板+microPython-CSDN博客

     ps2.py

    1. import time
    2. from machine import Pin
    3.  
    4. class PS2Controller:
    5.     # These are our button constants
    6.     SELECT = 1
    7.     L3 = 2
    8.     R3 = 3
    9.     START = 4
    10.     UP = 5
    11.     RIGHT = 6
    12.     DOWN = 7
    13.     LEFT = 8
    14.     L2 = 9
    15.     R2 = 10
    16.     L1 = 11
    17.     R1 = 12
    18.     TRIANGLE = 13
    19.     CIRCLE = 14
    20.     CROSS = 15
    21.     SQUARE = 16
    22.     KEYS = dict([
    23.                   (SELECT, "SELECT"),        (L3, "L3"),        (R3, "R3"),        (START, "START"),
    24.                   (UP, "UP"),        (RIGHT, "RIGHT"),        (DOWN, "DOWN"),        (LEFT, "LEFT"),
    25.                   (L2, "L2"),        (R2, "R2"),        (L1, "L1"),        (R1, "R1"),
    26.                   (TRIANGLE, "TRIANGLE"),        (CIRCLE, "CIRCLE"),        (CROSS, "CROSS"),        (SQUARE, "SQUARE")  ])
    27.  
    28.     CTRL_CLK = 10
    29.     CTRL_BYTE_DELAY = 16
    30.  
    31.     CMD_SHORT_POLL   = [0x01, 0x42, 0x00, 0x00, 0x00]
    32.     CMD_ENTER_CONFIG = [0x01, 0x43, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00]
    33.     CMD_SET_MODE     = [0X01, 0x44, 0x00,
    34.                         0x01,  # 00 normal; 01 red or analog
    35.                         0x03,  # 03 lock; ee no lock
    36.                         0x00, 0x00, 0x00, 0x00]
    37.     CMD_SET_BYTES_LARGE = [0x01, 0x4F, 0x00, 0xFF, 0xFF, 0x03, 0x00, 0x00, 0x00]
    38.     CMD_EXIT_CONFIG     = [0x01, 0x43, 0x00, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A]
    39.     CMD_ENABLE_RUMBLE   = [0x01, 0x4D, 0x00, 0x00, 0x01]
    40.     CMD_TYPE_READ       = [0x01, 0x45, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A]
    41.     CMD_READ_DATA       = [0X01, 0X42, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00]
    42.  
    43.     MAX_READ_DELAY = 1500
    44.  
    45.     VALID_MODES = [0X41, 0X73]
    46.  
    47.     def __init__(self, di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12):  # DI=DAT、DO=CMD 可以在此处将针脚调整为你自己对应的针脚
    48.         self.di_pin_no = di_pin_no
    49.         self.do_pin_no = do_pin_no
    50.         self.cs_pin_no = cs_pin_no
    51.         self.clk_pin_no = clk_pin_no
    52.         self.di  = Pin(self.di_pin_no, Pin.IN)  # DI = DAT
    53.         self.do  = Pin(self.do_pin_no, Pin.OUT) # DO = CMD
    54.         self.cs  = Pin(self.cs_pin_no, Pin.OUT)
    55.         self.clk = Pin(self.clk_pin_no, Pin.OUT)
    56.         self.buff_out = [0x01, 0x42]
    57.         self.buff_in = [0] * 9
    58.         self.pressed_keys = []
    59.         self.read_delay = 1
    60.         self.last_read_ms = 0
    61.         self.lx = 0
    62.         self.ly = 0
    63.         self.rx = 0
    64.         self.ry = 0
    65.  
    66.     @property
    67.     def red_mode(self):  # analog mode
    68.         return self.buff_in[1] & 0xf0 == 0x70
    69.  
    70.     def do_h(self):
    71.         self.do.value(1)
    72.  
    73.     def do_l(self):
    74.         self.do.value(0)
    75.  
    76.     def cs_h(self):
    77.         self.cs.value(1)
    78.  
    79.     def cs_l(self):
    80.         self.cs.value(0)
    81.  
    82.     def clk_h(self):
    83.         self.clk.value(1)
    84.  
    85.     def clk_l(self):
    86.         self.clk.value(0)
    87.  
    88.  
    89.     # noinspection PyUnresolvedReferences
    90.     def delay_byte(self):
    91.         time.sleep_us(self.read_delay)
    92.  
    93.     # noinspection PyUnresolvedReferences
    94.     def delay_clk(self):
    95.         time.sleep_us(self.CTRL_CLK)
    96.  
    97.     # noinspection PyUnresolvedReferences
    98.     def delay_read(self):
    99.         time.sleep_us(self.CTRL_BYTE_DELAY)
    100.         # time.sleep_ms(self.read_delay)
    101.  
    102.     def cmd(self, cmd):
    103.         ret = 0
    104.         for i in range(8):
    105.             if cmd & 1 << i:
    106.                 self.do_h()
    107.             else:
    108.                 self.do_l()
    109.             self.clk_l()
    110.             self.delay_clk()
    111.             if self.di.value():
    112.                 ret |= 1 << i
    113.             self.clk_h()
    114.         self.do_h()
    115.         self.delay_byte()
    116.         return ret
    117.  
    118.     """
    119.     :param 
    120.     pure True means not delay
    121.     """
    122.  
    123.     def cmd_group(self, cmds):
    124.         self.cs_l()
    125.         self.delay_byte()
    126.         for cmd in cmds:
    127.             self.cmd(cmd)
    128.         self.cs_h()
    129.         self.delay_read()
    130.  
    131.     def init(self):
    132.         self.di  = Pin(self.di_pin_no, Pin.IN)
    133.         self.do  = Pin(self.do_pin_no, Pin.OUT)
    134.         self.cs  = Pin(self.cs_pin_no, Pin.OUT)
    135.         self.clk = Pin(self.clk_pin_no, Pin.OUT)
    136.         self.do_h()
    137.         self.clk_h()
    138.  
    139.         self.read_once()
    140.         self.read_once()
    141.         #
    142.         if self.buff_in[1] not in [0x41, 0x73]:
    143.             print("control type not ok, expect 41 73 79, bug get ", "{:02x}".format(self.buff_in[1]))
    144.             return 1
    145.  
    146.         self.read_delay = 1
    147.  
    148.         for i in range(10):
    149.             # self.cmd_group(self.CMD_SHORT_POLL)
    150.             # self.cmd_group(self.CMD_SHORT_POLL)
    151.             # self.cmd_group(self.CMD_SHORT_POLL)
    152.             self.cmd_group(self.CMD_ENTER_CONFIG)
    153.             self.delay_byte()
    154.  
    155.             self.do_h()
    156.             self.clk_h()
    157.             self.cs_l()
    158.  
    159.             self.delay_byte()
    160.             #
    161.             temp = [0] * len(self.CMD_TYPE_READ)
    162.             for j in range(9):
    163.                 for cmd in self.CMD_TYPE_READ:
    164.                     temp[j] = self.cmd(cmd)
    165.             self.cs_h()
    166.  
    167.             self.cmd_group(self.CMD_SET_MODE)
    168.             # self.cmd_group(self.CMD_ENABLE_RUMBLE)
    169.             self.cmd_group(self.CMD_EXIT_CONFIG)
    170.             self.read_once()
    171.             if self.buff_in[1] in self.VALID_MODES:
    172.                 print("read_delay configed,", self.read_delay)
    173.                 break
    174.             else:
    175.                 self.read_delay += 1
    176.                 print("read_delay++,", self.read_delay)
    177.  
    178.     def reconfig(self):
    179.         print("reconfig")
    180.         self.cmd_group(self.CMD_ENTER_CONFIG)
    181.         self.cmd_group(self.CMD_SET_MODE)
    182.         self.cmd_group(self.CMD_EXIT_CONFIG)
    183.  
    184.     def p(self, debug=True):
    185.         if debug:
    186.             for d in self.buff_in:
    187.                 print("{:08b}".format(d))
    188.  
    189.         key_raw = (self.buff_in[4] << 8) | self.buff_in[3]
    190.         for i in range(1, 17):
    191.             if not key_raw & 1 << i - 1:
    192.                 self.pressed_keys.append(i)
    193.  
    194.         if self.red_mode:
    195.             self.rx = self.buff_in[5] - 128
    196.             self.ry = self.buff_in[6] - 128
    197.             self.lx = self.buff_in[7] - 128
    198.             self.ly = self.buff_in[8] - 128
    199.         if self.pressed_keys:
    200.             out = "keys:" + ','.join(self.KEYS[k] for k in self.pressed_keys) + "; "
    201.         else:
    202.             out = ""
    203.         # for key in self.pressed_keys:
    204.         #     print(key, self.KEYS[key])
    205.         if self.red_mode and (out or any(x != 0 for x in [self.rx, self.ry, self.lx, self.ly])):
    206.             out += "pos: (lx,ly):{},{};  (rx,ry): {},{}".format(self.lx, self.ly, self.rx, self.ry)
    207.  
    208.         if out:
    209.             print(out)
    210.  
    211.     def read_once(self, debug=False):
    212.         now = time.ticks_ms()
    213.         delay = now - self.last_read_ms
    214.         if delay > self.MAX_READ_DELAY:
    215.             print(now, self.last_read_ms, delay)
    216.             self.reconfig()
    217.         elif delay < self.read_delay:
    218.             # noinspection PyUnresolvedReferences
    219.             time.sleep_ms(self.read_delay - delay)
    220.  
    221.         self.buff_in = [0] * 9
    222.         self.pressed_keys.clear()
    223.  
    224.         for j in range(5):
    225.             # for i in range(1):
    226.             self.do_h()
    227.             self.clk_h()
    228.             self.cs_l()
    229.             self.delay_byte()
    230.  
    231.             for i, c in enumerate(self.CMD_READ_DATA):
    232.                 self.buff_in[i] = self.cmd(c)
    233.  
    234.             self.cs_h()
    235.  
    236.             if self.buff_in[1] in self.VALID_MODES:
    237.                 break
    238.             else:
    239.                 print("mode: {:08b}, retry_J: {}".format(self.buff_in[1], j))
    240.                 self.reconfig()
    241.                 self.delay_read()
    242.         if self.buff_in[1] not in self.VALID_MODES and self.read_delay < 10:
    243.             self.read_delay += 1
    244.  
    245.         self.last_read_ms = time.ticks_ms()
    246.         #self.p(debug)
    247.  
    248.         #以下为自己添加 ，原P()内的代码
    249.         key_raw = (self.buff_in[4] << 8) | self.buff_in[3]
    250.         for i in range(1, 17):
    251.             if not key_raw & 1 << i - 1:
    252.                 self.pressed_keys.append(i)
    253.  
    254.         if self.red_mode:
    255.             self.rx = self.buff_in[5] - 128
    256.             self.ry = self.buff_in[6] - 128
    257.             self.lx = self.buff_in[7] - 128
    258.             self.ly = self.buff_in[8] - 128
    259.         if self.pressed_keys:      #注意下面这几行的:和,千万不要修改，后面要他们做标记分割使用！
    260.             out = "keys:" + ','.join(self.KEYS[k] for k in self.pressed_keys) + ": "
    261.         else:
    262.             out = "keys:无:"
    263.         # for key in self.pressed_keys:
    264.         #     print(key, self.KEYS[key])
    265.         if self.red_mode and (out or any(x != 0 for x in [self.rx, self.ry, self.lx, self.ly])):
    266.             out += "pos(lx,ly):{},{}:  pos(rx,ry):{},{}:".format(self.lx, self.ly, self.rx, self.ry)
    267.         if out:
    268.             print(out)
    269.             
    270.         #return self.buff_in
    271.         return out
    272.  
    273. '''
    274. # 调用方法，将以下几行代码新建一个文件如：ps2_test.py
    275. from ps2 import PS2Controller
    276. import time
    277. ps2ctl = PS2Controller(di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12)
    278. ps2ctl.init()
    279. while True:
    280.     key_car= ps2ctl.read_once()   # 收到的字符格式为 keys:UP,RIGHT: pos(lx,ly):0,-1: pos(rx,ry): 0,-1:
    281.     #print("检测到按键：",key_car)    
    282.     key_list= key_car.split(':')  # 用：来将字符串进行分割，写入数组key_list中  key_list[1]输入的按键、key_list[3]左摇杆坐标、key_list[5]右摇杆坐标
    283.     if key_list[1]=="UP": 
    284.       print(key_car," 前进")
    285.       
    286.     if key_list[1]=="UP,LEFT": 
    287.       print(key_car," 左上方")
    288.     time.sleep(0.2)
    289. '''

    ​

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  • 原文地址：https://blog.csdn.net/lwpoor123/article/details/134056575