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/*PS3_ESP32_tank_JQ6500mp3_DRV8835_v6.0
*/
#include ◀Arduino.h▶ // Arduino ヘッダインクルード
//#include "SoftwareSerial.h" // EspSoftwareSerial
//#include "DFRobotDFPlayerMini.h"
#include ◀JQ6500_Serial.h▶
//SoftwareSerial mySoftwareSerial(16, 17); // RX, TX EspSoftwareSerial
HardwareSerial Serial_df(2); // use HardwareSerial UART2 (16pin=RX, 17pin=TX)
JQ6500_Serial mp3(Serial_df);
//DFRobotDFPlayerMini myDFPlayer;
void printDetail(uint8_t type, int value);
#include ◀Ps3Controller.h▶
#include ◀ESP32Servo.h▶
Servo servo1; // create four servo objects
int servo1Pin = 27;
Servo servo2;
int servo2Pin = 14;
Servo servo3;
int servo3Pin = 12;
int LED_1 = 23; //ブレーキランプ
int LED_2 = 22; //ヘッドライト
int LED_3 = 19; //砲撃
int LED_4 = 18; //銃撃
int k = 0;
int s = 0;
int d_time = 100;
int angle_servo1 = 90; // 上下
int anglenow = angle_servo1 ;
int angle_servo3 = 90; // リコイル
int motor_speed;
float steering;
int pos_y;
int pos_x;
int pos_lx;
int AIN1 = 32; // A入力1/APHASE 左モータ AIN1
int BIN1 = 25; // B入力1/BPHASE 右モータ BIN1
int PWMApin = A5; // A入力2/AENABLE 左モータ AIN2 IO33
int PWMBpin = A19; // B入力2/BENABLE 右モータ BIN2 IO26 (IO0は起動時不安定）
int PWMA = 2; //PWMAチャンネル 0=NG 1=NG 0～15
int PWMB = 3; //PWMBチャンネル 0=NG 1=NG 0～15
void setup() {
servo1.setPeriodHertz(50); // Standard 50hz servo PWMサイクル：20mS
servo1.attach(servo1Pin, 500, 2400); // (servo1Pin, minUs, maxUs)
servo2.setPeriodHertz(50); // Standard 50hz servo PWMサイクル：20mS
servo2.attach(servo2Pin, 900, 2100); // (servo1Pin, minUs, maxUs)
servo3.setPeriodHertz(50); // Standard 50hz servo PWMサイクル：20mS
servo3.attach(servo3Pin, 500, 2400); // (servo1Pin, minUs, maxUs)
Serial.begin(115200);
//mySoftwareSerial.begin(9600);
Serial_df.begin(9600); // RX2 = 16, TX2 = 17
mp3.reset();
mp3.setVolume(22);
//Ps3.begin("00:11:22:33:44:55"); //SixaxisPairToolで調べたmac adresに修正
//Ps3.begin("0c:b8:15:f5:8a:a2"); // PS3-Eコントローラ ESP32-1
Ps3.begin("0c:b8:15:f5:26:9a"); // PS3-Eコントローラ ESP32-2
Serial.println("PS3 Ready");
//if (!myDFPlayer.begin(mySoftwareSerial)) {
//Use softwareSerial to communicate with mp3.
/* if (!myDFPlayer.begin(Serial_df)) {
//Use HardwareSerial to communicate with mp3.
Serial.println(F("Unable to begin:"));
Serial.println(F("1.Please recheck the connection!"));
Serial.println(F("2.Please insert the SD card!"));
while (true) {
delay(0); // Code to compatible with ESP8266 watch dog.
}
}
Serial.println(F("DFPlayer Mini online."));
myDFPlayer.volume(20); //Set volume value. From 0 to 30
*/
ledcSetup(PWMA, 5000, 8); //チャンネル,周波数,解像度（8bit=256段階）
ledcAttachPin(PWMApin, PWMA); //ledPinをPWMCHチャンネルに接続
ledcSetup(PWMB, 5000, 8); //チャンネル,周波数,解像度（8bit=256段階）
ledcAttachPin(PWMBpin, PWMB); //ledPinをPWMCHチャンネルに接続
pinMode(AIN1, OUTPUT);
pinMode(BIN1, OUTPUT);
pinMode(LED_1, OUTPUT);
pinMode(LED_2, OUTPUT);
pinMode(LED_3, OUTPUT);
pinMode(LED_4, OUTPUT);
LEDtenmetsu(LED_2);
servo1.write(angle_servo1); // 0 - 180
delay(100);
servo2.write(90); // 0 - 180
delay(100);
servo3.write(angle_servo3); // 0 - 180
delay(100);
//myDFPlayer.play(3); //エンジン始動
mp3.playFileByIndexNumber(3);
delay(2000);
}
void loop() {
if (Ps3.isConnected()) {
pos_lx = Ps3.data.analog.stick.lx;
pos_lx = pos_lx + 128;
//砲塔旋回
if ( pos_lx ▶ 230) { //右旋回
servo2.write(80);
} else if (pos_lx ◀ 25) { //左旋回
servo2.write(100);
} else { //停止
servo2.write(90);
}
//砲身上下
if ( Ps3.event.button_down.square) { // center
//digitalWrite(LED_5, HIGH); //check
//delay(100);
//digitalWrite(LED_5, LOW); //check
if (anglenow ▶ 90) {
for (anglenow = anglenow; anglenow ▶= 90; anglenow -= 1) {
servo1.write(anglenow);
delay(40);
}
//delay(100);
}
else {
for (anglenow = anglenow; anglenow ◀= 90; anglenow += 1) {
servo1.write(anglenow);
delay(40);
}
//delay(100);
}
}
if ( Ps3.event.button_down.triangle) { // up
for (anglenow = anglenow; anglenow ◀= 135; anglenow += 1 ) {
servo1.write(anglenow);
delay(40);
}
//delay(100);
}
if ( Ps3.event.button_down.cross) { // down
for (anglenow = anglenow; anglenow ▶= 45; anglenow -= 1 ) {
servo1.write(anglenow);
delay(40);
}
//delay(100);
}
if (Ps3.event.button_down.circle) {
if (s == 0) {
s = 1;
//myDFPlayer.play(3); //エンジン始動
mp3.playFileByIndexNumber(3);
delay(2000);
//myDFPlayer.loop(5); //Loop 5th mp3 アイドリング
mp3.playFileByIndexNumber(5);
mp3.setLoopMode(MP3_LOOP_ONE);
delay(d_time);
} else {
//myDFPlayer.disableLoop(); //アイドリング停止
mp3.setLoopMode(MP3_LOOP_ONE_STOP);
s = 0;
delay(500);
}
}
if (Ps3.event.button_down.r3) {
//myDFPlayer.disableLoop(); //アイドリング停止
mp3.setLoopMode(MP3_LOOP_ONE_STOP);
s = 0;
}
if (Ps3.event.button_down.right) {
digitalWrite(LED_2, HIGH); // Headlight ON
}
if (Ps3.event.button_down.left) {
digitalWrite(LED_2, LOW); // Headlight off
}
if (Ps3.event.button_down.r1) { //砲撃 + リコイル（砲身＆車体）
digitalWrite(LED_3, HIGH); //主砲発光
//myDFPlayer.play(26);
mp3.playFileByIndexNumber(26);
delay(100);
servo3.write(angle_servo3 - 30); // 砲身リコイル
delay(20);
motor_run(180, 1, 180, 1, 1); // 車体リコイル
delay(80);
motor_run(0, 0, 0, 0, 1);
for (int ang3 = (angle_servo3 - 30); ang3 ◀= angle_servo3; ang3 += 1 ) {
servo3.write(ang3);
delay(20);
}
digitalWrite(LED_3, LOW);
motor_run(60, 0, 60, 0, 1);
delay(290);
motor_run(0, 0, 0, 0, 1);
delay(100);
if (s == 1) {
//myDFPlayer.loop(5); //Loop 5th mp3 アイドリング
mp3.playFileByIndexNumber(5);
mp3.setLoopMode(MP3_LOOP_ONE);
delay(d_time);
}
}
if (Ps3.event.button_down.l1) { //銃撃
//myDFPlayer.play(24);
mp3.playFileByIndexNumber(24);
delay(100);
for ( k = 0; k ◀ 6; k++) {
digitalWrite(LED_4, HIGH); //発光
delay(80);
digitalWrite(LED_4, LOW);
delay(120);
}
if (s == 1) {
//myDFPlayer.loop(5); //Loop 5th mp3 アイドリング
mp3.playFileByIndexNumber(5);
mp3.setLoopMode(MP3_LOOP_ONE);
delay(d_time);
}
}
//走行コントロール
pos_y = Ps3.data.analog.stick.ly;
pos_x = Ps3.data.analog.stick.rx;
pos_y = pos_y + 128;
pos_x = pos_x + 128;
/* //左スティックがセンター付近は停止（ブレーキ）
if (pos_x ▶ 102 && pos_x ◀ 152 && pos_y ▶ 102 && pos_y ◀ 152) {
motor_run(0, 0, 0, 0, 1);
}
*/
//前進
if (pos_y ◀= 102 && pos_x ▶= 102 && pos_x ◀= 152) {
motor_speed = map(pos_y, 102, 0, 0, 255);
motor_run(motor_speed, 0, motor_speed, 0, 0);
}
//後進
else if ( pos_y ▶= 152 && pos_x ▶= 102 && pos_x ◀= 152) {
motor_speed = map(pos_y, 152, 255, 0, 255) ;
motor_run(motor_speed, 1, motor_speed, 1, 0);
}
//前進右緩旋回、信地旋回
//else if ( pos_y ◀= 102 && pos_x ▶ 152 && pos_x ◀= 245) {
else if ( pos_y ◀= 102 && pos_x ▶= 152) {
motor_speed = map(pos_y, 102, 0, 0, 255);
steering = motor_speed * (1.00 - (map(pos_x, 152, 255, 0, 255) / 255.00));
motor_run(motor_speed, 0, steering, 0, 0);
}
//前進左緩旋回、信地旋回
//else if ( pos_y ◀= 102 && pos_x ◀ 102 && pos_x ▶= 10) {
else if ( pos_y ◀= 102 && pos_x ◀= 102) {
motor_speed = map(pos_y, 102, 0, 0, 255);
steering = motor_speed * (1.00 - (map(pos_x, 102, 0, 0, 255) / 255.00));
motor_run(steering, 0, motor_speed, 0, 0);
}
//後進右緩旋回、信地旋回
//else if ( pos_y ▶= 152 && pos_x ▶ 152 && pos_x ◀= 245) {
else if ( pos_y ▶= 152 && pos_x ▶= 152 ) {
motor_speed = map(pos_y, 152, 255, 0, 255);
steering = motor_speed * (1.00 - (map(pos_x, 152, 255, 0, 255) / 255.00));
motor_run(motor_speed, 1, steering, 1, 0);
}
//後進左緩旋回、信地旋回
//else if ( pos_y ▶= 152 && pos_x ◀ 102 && pos_x ▶= 10) {
else if ( pos_y ▶= 152 && pos_x ◀= 102 ) {
motor_speed = map(pos_y, 152, 255, 0, 255);
steering = motor_speed * (1.00 - (map(pos_x, 102, 0, 0, 255) / 255.00));
motor_run(steering, 1, motor_speed, 1, 0);
}
//右超信地旋回
else if (pos_x ▶= 245 && pos_y ▶= 102 && pos_y ◀= 152) {
motor_speed = 204;
motor_run(motor_speed, 0, motor_speed, 1, 0);
}
//左超信地旋回
else if (pos_x ◀= 10 && pos_y ▶= 102 && pos_y ◀= 152) {
motor_speed = 204;
motor_run(motor_speed, 1, motor_speed, 0, 0);
}
else { //停止（ブレーキ）
motor_run(0, 0, 0, 0, 1);
}
}
}
void motor_run(int D0, int D1, int D2, int D3, int D4) {
//D0 : モータスピード（左）
//D1 : モータA（左）1 = HIGH / 0 = LOW
//D2 : モータスピード（右）
//D3 : モータB（右）1 = HIGH / 0 = LOW
//D4 : LED_3 ON/OFF 1 = HIGH / 0 = LOW
//analogWrite(PWMA, D0);
ledcWrite(PWMA, D0); //(チャンネル,解像度)
digitalWrite(AIN1, D1);
//analogWrite(PWMB, D2);
ledcWrite(PWMB, D2); //(チャンネル,解像度)
digitalWrite(BIN1, D3);
digitalWrite(LED_1, D4);
}
void LEDtenmetsu(int LED) {
for (int i = 0; i ◀ 2; i++) {
digitalWrite(LED, HIGH);
delay(500);
digitalWrite(LED, LOW);
delay(500);
}
}
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