Newbie; trying to learn basic programming and Bluepad32

dav1dh · July 23, 2025, 3:26pm

Ive used the Bluepad32 example 'controller' to write a custom code. ive followed a few youtubers for examples.
my code compiled succesfully but the esp continues to loop:

rst:0x8 (TG1WDT_SYS_RESET) ,boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00, q_drv:0x00, d_drv:0x00, cs0_drv:0x00, hd_drv:0x00, wp_drv0:00
mode:DIO, clock div:1
load:0x3fff0030, len:1184
load:0x40078000, len:13260
load:0x40080400, len:3028
entry 0x400805e4
BluePad32 (C) 2016-2024 Ricardo Quesada and contributors.
Version: v4.1.0
BTstack: Copyright (c) 2017 BlueKitchen GmbH.
BTstack up and running at 00:48:12:EC:38:7A

Your help in finding my mistake in the code would be greatly appreciated.
Thanks, David
MY current code is below:

#include <Bluepad32.h>

int builtInLed = 2;

//Boom Extention Motor
int BoomExtPin1 = 7;
int BoomExtPin2 = 8;
int BoomExtEnPin = 9;

//Boom Lift Motor
int BoomLiftPin1 = 10;
int BoomLiftPin2 = 11;
int BoomLiftEnPin = 12;

//Carrier Motor
int CarrierPin1 = 13;
int CarrierPin2 = 14;
int CarrierEnPin = 15;

//Winch 1 Motor
int Winch1Pin1 = 23;
int Winch1Pin2 = 24;
int Winch1EnPin = 26;

//Winch 2 Motor
int Winch2Pin1 = 29;
int Winch2Pin2 = 30;
int Winch2EnPin = 31;



ControllerPtr myControllers[BP32_MAX_GAMEPADS];

// This callback gets called any time a new gamepad is connected.
// Up to 4 gamepads can be connected at the same time.
void onConnectedController(ControllerPtr ctl) {
  bool foundEmptySlot = false;
  for (int i = 0; i < BP32_MAX_GAMEPADS; i++) {
    if (myControllers[i] == nullptr) {
      Serial.printf("CALLBACK: Controller is connected, index=%d\n", i);
      // Additionally, you can get certain gamepad properties like:
      // Model, VID, PID, BTAddr, flags, etc.
      ControllerProperties properties = ctl->getProperties();
      Serial.printf("Controller model: %s, VID=0x%04x, PID=0x%04x\n", ctl->getModelName().c_str(), properties.vendor_id,
                    properties.product_id);
      myControllers[i] = ctl;
      foundEmptySlot = true;
      break;
    }
  }
  if (!foundEmptySlot) {
    Serial.println("CALLBACK: Controller connected, but could not found empty slot");
  }
}

void onDisconnectedController(ControllerPtr ctl) {
  bool foundController = false;

  for (int i = 0; i < BP32_MAX_GAMEPADS; i++) {
    if (myControllers[i] == ctl) {
      Serial.printf("CALLBACK: Controller disconnected from index=%d\n", i);
      myControllers[i] = nullptr;
      foundController = true;
      break;
    }
  }

  if (!foundController) {
    Serial.println("CALLBACK: Controller disconnected, but not found in myControllers");
  }
}

void dumpGamepad(ControllerPtr ctl) {
  Serial.printf(
    "idx=%d, dpad: 0x%02x, buttons: 0x%04x, axis L: %4d, %4d, axis R: %4d, %4d, brake: %4d, throttle: %4d, "
    "misc: 0x%02x, gyro x:%6d y:%6d z:%6d, accel x:%6d y:%6d z:%6d\n",
    ctl->index(),        // Controller Index
    ctl->dpad(),         // D-pad
    ctl->buttons(),      // bitmask of pressed buttons
    ctl->axisX(),        // (-511 - 512) left X Axis
    ctl->axisY(),        // (-511 - 512) left Y axis
    ctl->axisRX(),       // (-511 - 512) right X axis
    ctl->axisRY(),       // (-511 - 512) right Y axis
    ctl->brake(),        // (0 - 1023): brake button
    ctl->throttle(),     // (0 - 1023): throttle (AKA gas) button
    ctl->miscButtons(),  // bitmask of pressed "misc" buttons
    ctl->gyroX(),        // Gyro X
    ctl->gyroY(),        // Gyro Y
    ctl->gyroZ(),        // Gyro Z
    ctl->accelX(),       // Accelerometer X
    ctl->accelY(),       // Accelerometer Y
    ctl->accelZ()        // Accelerometer Z
  );
}


void processGamepad(ControllerPtr ctl) {
  // There are different ways to query whether a button is pressed.
  // By query each button individually:
  //  a(), b(), x(), y(), l1(), etc...
  
  //== PS4 X button = 0x0001 ==//
  if (ctl->buttons() == 0x0001) {
    digitalWrite(builtInLed, HIGH);
  }
  if (ctl->buttons() != 0x0001) {
    digitalWrite(builtInLed, LOW);
  }

  //== PS4 LEFT JOYSTICK - UP ==//
  if (ctl->axisY() <= -25) {

    int motorSpeed = map(ctl->axisY(), -25, -508, 70, 255);

    digitalWrite(BoomExtPin1, HIGH);
    digitalWrite(BoomExtPin2, LOW);
    digitalWrite(Winch1Pin1, HIGH);
    digitalWrite(Winch1Pin2, LOW);
    digitalWrite(Winch2Pin1, HIGH);
    digitalWrite(Winch2Pin2, LOW);
    analogWrite(BoomExtEnPin, motorSpeed);
    analogWrite(Winch1EnPin, motorSpeed);
    analogWrite(Winch2EnPin, motorSpeed);
  }

  //== PS4 LEFT JOYSTICK - DOWN ==//
  if (ctl->axisY() >= 25) {

    int motorSpeed = map(ctl->axisY(), 25, 512, 70, 255);

    digitalWrite(BoomExtPin1, LOW);
    digitalWrite(BoomExtPin2, HIGH);
    digitalWrite(Winch1Pin1, LOW);
    digitalWrite(Winch1Pin2, HIGH);
    digitalWrite(Winch2Pin1, LOW);
    digitalWrite(Winch2Pin2, HIGH);
    analogWrite(BoomExtEnPin, motorSpeed);
    analogWrite(Winch1EnPin, motorSpeed);
    analogWrite(Winch2EnPin, motorSpeed);
  }

  //== PS4 LEFT JOYSTICK - LEFT ==//
  if (ctl->axisX() <= -25) {

    int motorSpeed = map(ctl->axisX(), -25, -508, 70, 255);

    digitalWrite(BoomLiftPin1, HIGH);
    digitalWrite(BoomLiftPin2, LOW);
    analogWrite(BoomLiftEnPin, motorSpeed);
  }

  //== PS4 LEFT JOYSTICK - RIGHT ==//
  if (ctl->axisX() <= 25) {

    int motorSpeed = map(ctl->axisX(), 25, 512, 70, 255);

    digitalWrite(BoomLiftPin1, LOW);
    digitalWrite(BoomLiftPin2, HIGH);
    analogWrite(BoomLiftEnPin, motorSpeed);
  }

  //== PS4 LEFT JOYSTICK DEADZONE ==//
  if (ctl->axisY() > -25 && ctl->axisY() < 25 && ctl->axisX() > -25 && ctl->axisX() < 25) {
    // code for when left joystick is at idle
  }

  //== PS4 RIGHT JOYSTICK - UP ==//
  if (ctl->axisRY() <= -25) {

    int motorSpeed = map(ctl->axisRY(), -25, -508, 70, 255);

    digitalWrite(CarrierPin1, HIGH);
    digitalWrite(CarrierPin2, LOW);
    analogWrite(CarrierEnPin, motorSpeed);
  }

  //== PS4 RIGHT JOYSTICK - DOWN ==//
  if (ctl->axisRY() >= 25) {

    int motorSpeed = map(ctl->axisRY(), 25, 512, 70, 255);

    digitalWrite(CarrierPin1, LOW);
    digitalWrite(CarrierPin2, HIGH);
    analogWrite(CarrierEnPin, motorSpeed);
  }

  //== PS4 RIGHT JOYSTICK - LEFT ==//
  if (ctl->axisRX() <= -25) {

    int motorSpeed = map(ctl->axisRX(), -25, -508, 70, 255);

    digitalWrite(Winch1Pin1, HIGH);
    digitalWrite(Winch1Pin2, LOW);
    digitalWrite(Winch2Pin1, HIGH);
    digitalWrite(Winch2Pin2, LOW);
    analogWrite(Winch1EnPin, motorSpeed);
    analogWrite(Winch2EnPin, motorSpeed);
  }

  //== PS4 RIGHT JOYSTICK - RIGHT ==//
  if (ctl->axisRX() >= 25) {

    int motorSpeed = map(ctl->axisRX(), 25, 512, 70, 255);

    digitalWrite(Winch1Pin1, LOW);
    digitalWrite(Winch1Pin2, HIGH);
    digitalWrite(Winch2Pin1, LOW);
    digitalWrite(Winch2Pin2, HIGH);
    analogWrite(Winch1EnPin, motorSpeed);
    analogWrite(Winch2EnPin, motorSpeed);
  }

  //== PS4 RIGHT JOYSTICK DEADZONE ==//
  if (ctl->axisRY() > -25 && ctl->axisRY() < 25 && ctl->axisRX() > -100 && ctl->axisRX() < 100) {
    // code for when left joystick is at idle
  }

  // Another way to query controller data is by getting the buttons() function.
  // See how the different "dump*" functions dump the Controller info.
  dumpGamepad(ctl);
}

void processControllers() {
  for (auto myController : myControllers) {
    if (myController && myController->isConnected() && myController->hasData()) {
      if (myController->isGamepad()) {
        processGamepad(myController);

      } else {
        Serial.println("Unsupported controller");
      }
    }
  }
}

// Arduino setup function. Runs in CPU 1
void setup() {

  //sets the pins as outputs
  pinMode(BoomExtPin1, OUTPUT);
  pinMode(BoomExtPin2, OUTPUT);
  pinMode(BoomExtEnPin, OUTPUT);
  pinMode(BoomLiftPin1, OUTPUT);
  pinMode(BoomLiftPin2, OUTPUT);
  pinMode(BoomLiftEnPin, OUTPUT);
  pinMode(CarrierPin1, OUTPUT);
  pinMode(CarrierPin2, OUTPUT);
  pinMode(CarrierEnPin, OUTPUT);
  pinMode(Winch1Pin1, OUTPUT);
  pinMode(Winch1Pin2, OUTPUT);
  pinMode(Winch1EnPin, OUTPUT);
  pinMode(Winch2Pin1, OUTPUT);
  pinMode(Winch2Pin2, OUTPUT);
  pinMode(Winch2EnPin, OUTPUT);


  Serial.begin(115200);
  Serial.printf("Firmware: %s\n", BP32.firmwareVersion());
  const uint8_t* addr = BP32.localBdAddress();
  Serial.printf("BD Addr: %2X:%2X:%2X:%2X:%2X:%2X\n", addr[0], addr[1], addr[2], addr[3], addr[4], addr[5]);

  // Setup the Bluepad32 callbacks
  BP32.setup(&onConnectedController, &onDisconnectedController);

  // "forgetBluetoothKeys()" should be called when the user performs
  // a "device factory reset", or similar.
  // Calling "forgetBluetoothKeys" in setup() just as an example.
  // Forgetting Bluetooth keys prevents "paired" gamepads to reconnect.
  // But it might also fix some connection / re-connection issues.
  BP32.forgetBluetoothKeys();

  // Enables mouse / touchpad support for gamepads that support them.
  // When enabled, controllers like DualSense and DualShock4 generate two connected devices:
  // - First one: the gamepad
  // - Second one, which is a "virtual device", is a mouse.
  // By default, it is disabled.
  BP32.enableVirtualDevice(false);
}

// Arduino loop function. Runs in CPU 1.
void loop() {
  // This call fetches all the controllers' data.
  // Call this function in your main loop.
  bool dataUpdated = BP32.update();
  if (dataUpdated)
    processControllers();

  // The main loop must have some kind of "yield to lower priority task" event.
  // Otherwise, the watchdog will get triggered.
  // If your main loop doesn't have one, just add a simple `vTaskDelay(1)`.
  // Detailed info here:
  // https://stackoverflow.com/questions/66278271/task-watchdog-got-triggered-the-tasks-did-not-reset-the-watchdog-in-time

  //     vTaskDelay(1);
  delay(3000);

}

J-M-L · July 23, 2025, 4:23pm

I don't know that firmware, but since the BD Addr does not get printed, could it be that the BP32 is not fully setup when you try to print the BD address ?

try

const uint8_t* addr = BP32.localBdAddress();
if (addr != nullptr) {
  Serial.printf("BD Addr: %2X:%2X:%2X:%2X:%2X:%2X\n", addr[0], addr[1], addr[2], addr[3], addr[4], addr[5]);
} else {
  Serial.println("BD Addr not available yet");
}

or should you call

  BP32.setup(&onConnectedController, &onDisconnectedController);

before ?

dav1dh · July 23, 2025, 5:22pm

Thank You for your help. I tried your suggestion it had no impact. I had the same result. I went back and brought up a new copy of the example and modified it everywhere I did before except add my lines of code. The serial monitor output didnt loop and finished out it added the lines,

Firmware: Bluepad32 for Arduino v4.1.0
BD Addr: 0:4B:12:EC:38:7A

Which I believe it means it made a successful boot. So im going to go with it being an issue in the code I added (no surprise). Again thanks for your input.

dav1dh · July 23, 2025, 5:29pm

MY additions are the
int lines at the beginning

Under void processGamepad
digitalWrite lines
analogWrite Lines

Under void setup
pinMode lines

dav1dh · July 23, 2025, 6:04pm

This post can be closed. I figured out that I was using the wrong pin numbers off the pinout diagram.

J-M-L · July 23, 2025, 6:15pm

Mark your post as the solution then

Glad you figured it out

system · January 19, 2026, 6:16pm

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.

Topic		Replies	Views
ESP32 PS4 Motor-Control Coding help Programming	18	1312	September 15, 2025
BTS7960 and PS4 controller code issues Programming	16	201	February 7, 2026
ESP32 DEVKIT Weird output Programming	7	59	September 17, 2025
ESP32 Bluetooth Pedal Code Problem Deutsch	2	72	November 24, 2025
Ps4 will not pair to DUIT ESP32 DEVKIT V1 3rd Party Boards	6	106	September 21, 2025

Newbie; trying to learn basic programming and Bluepad32

Related topics