First and foremost, I double-checked every connection on the board four times. The problem persists despite switching motors, speed controllers, connectors, and electricity. The code does not appear to be an issue. A PS2 controller and a wireless receiver are also used to regulate the speed and directions. Furthermore, the board is powered by my laptop, while the speed controllers are supplied by a 6v power source (the motors are suggested for 5 volts). The competition is approaching, and I'm having trouble coming up with a solution. The issue I mentioned has to do with test motors. At 20v, the genuine motors are a lot more powerful, and there will be four of them.
`#include <RobojaxBTS7960.h>
#include <PS2X_lib.h> //for v1.6
/******************************************************************
* set pins connected to PS2 controller:
* - 1e column: original
* - 2e colmun: Stef?
* replace pin numbers by the ones you use
******************************************************************/
#define PS2_DAT 22 //14
#define PS2_CMD 23 //15
#define PS2_SEL 24 //16
#define PS2_CLK 25 //17
#define RPWM 3 // define pin 3 for RPWM pin (output)
#define R_EN 40 // define pin 2 for R_EN pin (input)
#define R_IS 42 // define pin 5 for R_IS pin (output)
#define LPWM 2 // define pin 6 for LPWM pin (output)
#define L_EN 41 // define pin 7 for L_EN pin (input)
#define L_IS 43 // define pin 8 for L_IS pin (output)
#define RPWM_2 6 // define pin 3 for RPWM pin (output)
#define R_EN_2 32 // define pin 2 for R_EN pin (input)
#define R_IS_2 34// define pin 5 for R_IS pin (output)
#define LPWM_2 5 // define pin 6 for LPWM pin (output)
#define L_EN_2 33 // define pin 7 for L_EN pin (input)
#define L_IS_2 35 // define pin 8 for L_IS pin (output)
#define CW 1 //do not change
#define CCW 0 //do not change
#define debug 1
RobojaxBTS7960 motor1(R_EN,RPWM,R_IS, L_EN,LPWM,L_IS,debug);
RobojaxBTS7960 motor2(R_EN_2,RPWM_2,R_IS_2,L_EN_2,LPWM_2,L_IS_2,debug);
/******************************************************************
* 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;
int tax=0;
int tax2=0;
void setup(){
motor1.begin();
motor2.begin();
Serial.begin(9600);
delay(300); //added delay to give wireless ps2 module some time to startup, before configuring it
//CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
//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("Wireless Sony DualShock Controller found ");
break;
}
}
void loop() {
if(error == 1) //skip loop if no controller found
return;
else { //DualShock Controller
ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
if(ps2x.Analog(PSS_LY)==128)
motor1.stop();
if(ps2x.Analog(PSS_LY)<128){
tax = map((ps2x.Analog(PSS_LY)),128,0,0,100);
motor1.rotate(tax,CW);
}
if(ps2x.Analog(PSS_LY)>128){
tax = map((ps2x.Analog(PSS_LY)),128,255,0,100);
motor1.rotate(tax,CCW);
}
if(ps2x.Analog(PSS_RY)==128);
motor2.stop();
if(ps2x.Analog(PSS_RY)<128){
tax2 = map((ps2x.Analog(PSS_RY)),128,0,0,100);
motor2.rotate(tax2,CW);
}
if(ps2x.Analog(PSS_RY)>128){
tax2 = map((ps2x.Analog(PSS_RY)),128,255,0,100);
motor2.rotate(tax2,CCW);
}
}
}
`
