准毕业本科狗在指导老师的带领下,打算做一个使用履带机器人。以前也接触过一点树莓派,就打算用树莓派作为主控板(虽然有点傻),一方面也考虑了后续要使用opencv库作图像处理。做的时候,想一开始用ps2手柄控制机器人,奈何网上资料都是stm32和arduino的。
经过几天的查资料,我找到了micropython的ps2库(参考资料),但是为了直接使用树莓派自带的gpio,我稍微对程序做了一点修改,希望能给需要的同学一点帮助。
import time
import RPi.GPIO as gpio
PSB_SELECT = 1
PSB_L3 = 2
PSB_R3 = 3
PSB_START = 4
PSB_PAD_UP = 5
PSB_PAD_RIGHT = 6
PSB_PAD_DOWN = 7
PSB_PAD_LEFT = 8
PSB_L2 = 9
PSB_R2 = 10
PSB_L1 = 11
PSB_R1 = 12
PSB_GREEN = 13
PSB_RED = 14
PSB_BLUE = 15
PSB_PINK = 16
PSB_TRIANGLE = 13
PSB_CIRCLE = 14
PSB_CROSS = 15
PSB_SQUARE = 26
#右摇杆X轴数据
PSS_RX = 5
PSS_RY = 6
PSS_LX = 7
PSS_LY = 8
comd = [0x01, 0x42] #开始指令
data = [0x00, 0x00, 0x00