前言使用PS2手柄和Arduino开发板制作简易遥控车，使用蓝牙进行通信，可以前后左右移动(掌握原理后，可以自己扩展功能)
另一方面，零部件1.Arduino UNO开发板： ArduinoUNO是ArduinoUSB接口系列的最新版本，作为Arduino平台的参考标准模板。 UNO的处理器核心是atmega 328，14路数字输入/输出端口，其中6路可用作PWM输出。 配备6路模拟输入、16MHz晶体振荡器、USB端口、电源插座、ICSPheader、复位按钮。
2.PS2手柄和接收机： PS2手柄由手柄和接收机两部分组成，手柄主要负责密钥信息的发送； 接收器连接到单片机，用于接收来自手柄的信息，并将信息传递到单片机，单片机还可以通过接收器将指令发送到手柄，配置手柄的发送模式。
接收器的针脚功能如下图所示。
需要特别注意的是，按遥控器上的MODE键，手柄可以置于“红色模式”或“绿色模式”。 遥控器侧面的“MODE LED”点亮为红色模式，相反变为绿色模式。 “红色模式”和“绿色模式”的主要区别在于棒模拟值得输出。
3.L298N驱动模块： L298N是一款承受高压的电机驱动器，既能驱动直流电机，也能驱动步进电机。 一块驱动芯片可以同时控制两个直流减速电机进行不同的工作，在6V至46V的电压范围内，提供2安培的电流，具有过热自关和反馈检测功能。 L298N可以直接控制电机，通过主控芯片的I/O输入设定其控制电平，可以正转、反转驱动电机，操作简单、稳定性好，可以满足直流电机的大电流驱动条件。
4 .乒乓乓乓，因为板上有很多小插孔，是为了不焊接电子电路的实验而设计制造的。 各种电子部件可以根据需要自由插入和拔出，因此不需要焊接，节约电路的组装时间。 另外，部件可以再利用，非常适合电子电路的组装、调整、训练。
5 .小车由亚克力板、直流电机、小轮胎、电池箱、电池等制成。
二、代码# include ps2x _ lib.h//forv 1.6 # define PS2 _ dat 13//14 # define PS2 _ cmd 11//15 # define PS2 _ sel 10///pin6(PWM ) int input3=9； //pin9(PWM ) int input4=3； //pin3(PWM ) definepressurestrue # definerumbletrueps2x PS2 x； //create PS2 controllerclassinterror=0； 字节类型=0； 字节活动=0； //resetfuncvoid(*resetfunc ) ) void )=0； voidsetup((serial.begin ) ) 9600； dlay(500； //addeddelaytogivewirelessps2modulesometimetostartup，beforeconfiguringiterror=ps2x.config _ gamepad (PS2 _ clk，PS serial.print('pressures='； if(pressures ) serial.println('true )； elseserial.println('false )； serial.print('rumble=' )； if(rumble ) serial.println('true ) )； elseserial.println('false )； serial.println (tryoutallthebuttons，X will vibrate the controller，faster as you press harder； ' )； serial.println (holdingl1or R1 willprintouttheanalogstickvalues.'； serial.println (' note : goto www.bill porter.infoforupdatesandtoreportbugs.' )； }elseif(error==1) serial.println (nocontrollerfound，check wiring，see readme.txt to enable debu
g. 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. "); type = ps2x.readType(); switch(type) { case 0: Serial.println("Unknown Controller type found "); break; case 1: Serial.println("DualShock Controller found "); break; case 2: Serial.println("GuitarHero Controller found "); break;case 3: Serial.println("Wireless Sony DualShock Controller found "); break; }pinMode(input1,OUTPUT);pinMode(input2,OUTPUT); pinMode(input3,OUTPUT); pinMode(input4,OUTPUT);}void STOP(){ digitalWrite(input1,LOW); digitalWrite(input2,LOW); digitalWrite(input3,LOW); digitalWrite(input4,LOW); }//停止函数void RUN(){ digitalWrite(input1,HIGH); digitalWrite(input2,LOW); digitalWrite(input3,LOW); digitalWrite(input4,HIGH); analogWrite(input1,250); analogWrite(input4,250);}//可调速的前进函数void LEFT(){ digitalWrite(input1,HIGH); digitalWrite(input2,LOW); digitalWrite(input3,HIGH); digitalWrite(input4,LOW); analogWrite(input1,200); analogWrite(input3,200);}//可调速的左转函数void RIGHT(){ digitalWrite(input1,LOW); digitalWrite(input2,HIGH); digitalWrite(input3,LOW); digitalWrite(input4,HIGH); analogWrite(input2,200); analogWrite(input4,200);}//可调速的右转函数void BACK(){ digitalWrite(input1,LOW); digitalWrite(input2,HIGH); digitalWrite(input3,HIGH); digitalWrite(input4,LOW); analogWrite(input2,250); analogWrite(input3,250);}//可调速的后退函数void loop() { if(error == 1){ //skip loop if no controller found resetFunc(); } if(type == 2){ //Guitar Hero Controller ps2x.read_gamepad(); //read controller if(ps2x.ButtonPressed(GREEN_FRET)) Serial.println("Green Fret Pressed"); if(ps2x.ButtonPressed(RED_FRET)) Serial.println("Red Fret Pressed"); if(ps2x.ButtonPressed(YELLOW_FRET)) Serial.println("Yellow Fret Pressed"); if(ps2x.ButtonPressed(BLUE_FRET)) Serial.println("Blue Fret Pressed"); if(ps2x.ButtonPressed(ORANGE_FRET)) Serial.println("Orange Fret Pressed"); if(ps2x.ButtonPressed(STAR_POWER)) Serial.println("Star Power Command"); if(ps2x.Button(UP_STRUM)) //will be TRUE as long as button is pressed Serial.println("Up Strum"); if(ps2x.Button(DOWN_STRUM)) Serial.println("DOWN Strum"); if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed Serial.println("Start is being held"); if(ps2x.Button(PSB_SELECT)) Serial.println("Select is being held"); if(ps2x.Button(ORANGE_FRET)) { // print stick value IF TRUE Serial.print("Wammy Bar Position:"); Serial.println(ps2x.Analog(WHAMMY_BAR), DEC); } } else { //DualShock Controller ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed if(ps2x.Button(PSB_START)) //will be TRUE as long as button is pressed Serial.println("Start is being held"); if(ps2x.Button(PSB_SELECT)) Serial.println("Select is being held"); if(ps2x.Button(PSB_PAD_UP)) { //will be TRUE as long as button is pressed Serial.print("Up held this hard: "); RUN(); Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC); } if(ps2x.Button(PSB_PAD_RIGHT)){ Serial.print("Right held this hard: "); LEFT(); Serial.println(ps2x.Analog(PSAB_PAD_RIGHT), DEC); } if(ps2x.Button(PSB_PAD_LEFT)){ Serial.print("LEFT held this hard: "); RIGHT(); Serial.println(ps2x.Analog(PSAB_PAD_LEFT), DEC); } if(ps2x.Button(PSB_PAD_DOWN)){ Serial.print("DOWN held this hard: "); BACK(); Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC); } vibrate = ps2x.Analog(PSAB_CROSS); //this will set the large motor vibrate speed based on how hard you press the blue (X) button if (ps2x.NewButtonState()) { //will be TRUE if any button changes state (on to off, or off to on) if(ps2x.Button(PSB_L3)) Serial.println("L3 pressed"); if(ps2x.Button(PSB_R3)) Serial.println("R3 pressed"); if(ps2x.Button(PSB_L2)) Serial.println("L2 pressed"); if(ps2x.Button(PSB_R2)) Serial.println("R2 pressed"); if(ps2x.Button(PSB_TRIANGLE)) Serial.println("Triangle pressed"); STOP(); } if(ps2x.ButtonPressed(PSB_CIRCLE)) //will be TRUE if button was JUST pressed Serial.println("Circle just pressed"); if(ps2x.NewButtonState(PSB_CROSS)) //will be TRUE if button was JUST pressed OR released Serial.println("X just changed"); if(ps2x.ButtonReleased(PSB_SQUARE)) //will be TRUE if button was JUST released Serial.println("Square just released"); if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE Serial.print("Stick Values:"); Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX Serial.print(","); Serial.print(ps2x.Analog(PSS_LX), DEC); Serial.print(","); Serial.print(ps2x.Analog(PSS_RY), DEC); Serial.print(","); Serial.println(ps2x.Analog(PSS_RX), DEC); } } delay(50); }