Joystick Controlled RC Car

1/*
2 Example sketch for the Xbox Wireless Reciver library - developed  by Kristian Lauszus
3 It supports up to four controllers wirelessly
4 For more  information see the blog post: http://blog.tkjelectronics.dk/2012/12/xbox-360-receiver-added-to-the-usb-host-library/  or
5 send me an e-mail:  kristianl@tkjelectronics.com
6 */
7
8#include <XBOXRECV.h>
9//  Satisfy IDE, which only needs to see the include statment in the ino.
10#ifdef  dobogusinclude
11#include <spi4teensy3.h>
12#endif
13
14USB Usb;
15XBOXRECV  Xbox(&Usb);
16
17#define motorPinOne 5 //The chosen pin must have PWM
18#define  motorPinTwo 6 //The chosen pin must have PWM
19
20#define motor2PinOne 4 
21#define  motor2PinTwo 7
22#define BRAKE        2
23
24/* Define the rotational speed of  the motor. MUST be between 0 and 255. */
25int pulse = 0;
26int forward = 0;
27int  brake_on = 0;
28
29
30void setup() {
31  TCCR1B = TCCR1B & 0b11111000 | 0x02;
32  Serial.begin(115200);
33  if (Usb.Init() == -1) {
34    Serial.print(F("\
\
35OSC  did not start"));
36    while(1); //halt
37    motors_stop();
38    center();
39  }
40  Serial.print(F("\
\
41Xbox Wireless Receiver Library Started"));
42  pinMode (motorPinOne, OUTPUT);
43  pinMode (motorPinTwo, OUTPUT);
44  pinMode  (motor2PinOne, OUTPUT);
45  pinMode (motor2PinTwo, OUTPUT); 
46  pinMode (BRAKE,  OUTPUT);
47  
48  digitalWrite (BRAKE, LOW);
49}
50
51void loop() {
52  Usb.Task();
53  if(Xbox.XboxReceiverConnected) 
54    {
55    for(uint8_t i=0;i<4;i++) 
56      {
57      if(Xbox.getButtonPress(L2, i))
58        {
59        Serial.print("L2:  ");
60        Serial.print(Xbox.getButtonPress(L2, i));
61        pulse = Xbox.getButtonPress(L2,  i);
62        forward = 0;
63        clockwise(); 
64        }
65        
66      if(Xbox.getButtonPress(R2, i))      
67        {
68        Serial.print("R2:  ");
69        Serial.println(Xbox.getButtonPress(R2, i));
70        pulse = Xbox.getButtonPress(R2,  i);
71        forward = 1;
72        counterClockwise(); 
73        }
74        
75       if(Xbox.getAnalogHat(LeftHatX, i) > 7500 || Xbox.getAnalogHat(LeftHatX, i)  < -7500 || Xbox.getAnalogHat(LeftHatY, i) > 7500 || Xbox.getAnalogHat(LeftHatY,  i) < -7500 || Xbox.getAnalogHat(RightHatX, i) > 7500 || Xbox.getAnalogHat(RightHatX,  i) < -7500 || Xbox.getAnalogHat(RightHatY, i) > 7500 || Xbox.getAnalogHat(RightHatY,  i) < -7500) 
76         {
77          if(Xbox.getAnalogHat(LeftHatX, i) > 7500)
78            {
79            Serial.print(F("LeftHatX: ")); 
80            Serial.print(Xbox.getAnalogHat(LeftHatX,  i));
81            Serial.print("\	");
82            
83            if (Xbox.getAnalogHat(LeftHatX,  i) > 26000)
84              turn_right();
85            else
86              center();
87            }  
88      
89        if (Xbox.getAnalogHat(LeftHatX, i) < -7500)
90          {
91          Serial.print(F("LeftHatX: ")); 
92          Serial.print(Xbox.getAnalogHat(LeftHatX,  i));
93          Serial.print("\	");
94          
95          if (Xbox.getAnalogHat(LeftHatX,  i) < -26000)
96            turn_left();
97          else
98            center();   
99        }
100        
101        if(Xbox.getAnalogHat(LeftHatY, i) > 7500  || Xbox.getAnalogHat(LeftHatY, i) < -7500) 
102          {
103          Serial.print(F("LeftHatY:  ")); 
104          Serial.print(Xbox.getAnalogHat(LeftHatY, i));
105          Serial.print("\	");
106          } 
107          
108        if(Xbox.getAnalogHat(RightHatX, i) > 7500)
109          {
110          Serial.print(F("RightHatX: ")); 
111          Serial.print(Xbox.getAnalogHat(RightHatX,  i));
112          Serial.print("\	");   
113          } 
114       
115         if  (Xbox.getAnalogHat(RightHatX, i) < -7500)
116           {
117           Serial.print(F("RightHatX:  ")); 
118           Serial.print(Xbox.getAnalogHat(RightHatX, i));
119           Serial.print("\	");
120           }
121         
122        if(Xbox.getAnalogHat(RightHatY, i) > 7500 ||  Xbox.getAnalogHat(RightHatY, i) < -7500) {
123          Serial.print(F("RightHatY:  ")); 
124          Serial.print(Xbox.getAnalogHat(RightHatY, i));  
125        }
126        Serial.println();
127      }
128    
129      if(Xbox.getButtonClick(UP,  i)) 
130        {
131        Serial.println(F("Up"));
132        }
133        
134      if(Xbox.getButtonClick(DOWN, i)) 
135        {
136        Serial.println(F("Down"));
137        }
138        
139      if(Xbox.getButtonClick(LEFT, i)) 
140        {
141        Serial.println(F("Left"));
142        }
143        
144      if(Xbox.getButtonClick(RIGHT,  i)) 
145        {
146        Serial.println(F("Right"));
147        }
148
149      if(Xbox.getButtonClick(START, i)) 
150        {
151        Serial.println(F("Start"));
152        }
153		
154      if(Xbox.getButtonClick(BACK, i)) 
155        {
156        Serial.println(F("Back"));
157        }
158      
159      if(Xbox.getButtonClick(L3, i))
160        Serial.println(F("L3"));
161        
162      if(Xbox.getButtonClick(R3, i))
163        Serial.println(F("R3"));
164
165      if(Xbox.getButtonClick(L1, i))
166        Serial.println(F("L1"));
167        
168      if(Xbox.getButtonClick(R1, i))
169        Serial.println(F("R1"));
170        
171      if(Xbox.getButtonClick(XBOX, i)) 
172        {
173        Xbox.setLedMode(ROTATING,  i);
174        Serial.println(F("Xbox"));        
175        }
176
177      if(Xbox.getButtonClick(A,  i))
178        {
179        Serial.println(F("A"));
180      }
181      
182    if(Xbox.getButtonClick(B,  i))
183      {
184      Serial.println(F("B"));
185      digitalWrite(BRAKE, HIGH);
186      brake_on = 1;
187      pulse = 100;
188      
189      if (forward)
190        clockwise();
191      else
192        counterClockwise();
193      }
194      
195    if(Xbox.getButtonClick(X,  i))
196      Serial.println(F("X"));
197      
198    if(Xbox.getButtonClick(Y,  i))
199      {
200      Serial.println(F("Y"));
201      motors_stop();
202      }
203    }
204  } 
205  delay(1);
206}
207
208void clockwise()
209{
210  Serial.print("Rotation  is clockwise and speed is ");
211  Serial.println(pulse);
212  analogWrite(motorPinOne,pulse);   // set leg 1 of the H-bridge low
213  analogWrite(motorPinTwo,0);
214  
215  if  (brake_on)
216    {
217    delay(600);
218    digitalWrite(BRAKE, LOW);
219    brake_on  = 0;
220    pulse = 0;    
221    }
222}
223
224void counterClockwise()
225{
226  Serial.print("Rotation is counter-clockwise and speed is ");
227  Serial.println(pulse);
228  analogWrite(motorPinOne,0);   // set leg 1 of the H-bridge low
229  analogWrite(motorPinTwo,pulse);
230  
231  if (brake_on)
232    {
233    delay(600);
234    digitalWrite(BRAKE, LOW);
235    brake_on = 0;
236    pulse = 0;    
237    }
238    
239
240}
241
242void turn_left()
243{
244  digitalWrite(motor2PinOne,HIGH);   // set leg 1 of the H-bridge low
245  digitalWrite(motor2PinTwo,LOW);
246}
247
248void  turn_right()
249{
250  digitalWrite(motor2PinOne,LOW);   // set leg 1 of the H-bridge  low
251  digitalWrite(motor2PinTwo,HIGH);
252}
253
254void motors_stop()
255{
256  analogWrite(motorPinOne,0);
257  analogWrite(motorPinTwo,0);
258  pulse = 0;
259}
260
261void  center()
262{
263  digitalWrite(motor2PinOne, LOW);
264  digitalWrite(motor2PinTwo,  LOW);
265}