A4WD1 Combo Kit for PS2

Lynxmotion Electronics & Software
1

Dear lynxmotion
we r using a basic atom pro 28 , bot board 2 with A4WD rover as well as the ps2 controller,
we have tried the test program and it worked well, but what i’m asking for is how to make the ps2 controlled deal with our rover kit to control our motors as well as the servo for the pan and tilt camera stand,
so we need a sample code for A4WD1 Combo Kit for PS2 to perform the previous task.

2

Our code posted in this tutorial includes pan/tilt control. :smiley:

3

dear fish
thanks a lot for posting that code it helped us a lot
but we still have some problems dealing with the controller.
as this code controls the motors from the left analog joystick
but we want to switch it with the D-pad
OR
to make the x axis of the joystick controls the left and right of the motors and y axis of the joystick controls the forward and backward of the motors.

[code][code]
'Program name: PS2ROV4.BAS
'Author: Jim Frye / Nathan Scherdin (PS2 stuff)
'Modified by Laurent Gay : speed limit control with L1/L2
'Modified by Brian Nave : Normalized analog joysticks, named button variables, positive boolean logic, audio feedback on speed limit
'Modified by Laurent Gay : New PS2 Controller code (more compatible)
'Modified by James Frye : Configured for Atom Pro

’ This program allows the remote control of a differentially steered robot
’ from the Sony Play Station 2 game controller.

’ The Scorpion has two modes of operation. The default is the mixer mode. This
’ is where you have a Throttle for forward and reverse speed control, and a
’ Steering control for turning. In this mode the left input is throttle and
’ the right input is steering. The other mode is a differential style control.
’ This is where the left and right channels are controled indepentantly to
’ steer like a tank. This program uses the mixing mode. It also requires the
’ BEC (battery eliminator circuit to be dissabled. See the Scorpion manual.

'Connections
'Pin 1 Left Scorpion channel.
'Pin 0 Right Scorpion channel.
'Pin 18 Pan servo.
'Pin 19 Tilt servo.
'Pin 9 Speaker
'Pin 10 1/0 Controlled from Triangel Button
'Pin 11 1/0 Controlled from “X” button
'---------------
'BotBoard II :

'Pin 12 PS2 Data
'Pin 13 PS2 Command
'Pin 14 PS2 Select
'Pin 15 PS2 Clock
'---------------

'PlayStation game controller connections.

'PS2 Controller / BotBoard II
DAT con P12
CMD con P13
SEL con P14
CLK con P15

temp var byte ’ Variable definitions.
buttons var word
Lastbuttons var word

bpress1 var bit
bpress2 var bit

rhori var byte 'pan and tilt.
rvert var byte
lhori var byte
lvert var byte

rhori_null var byte 'joystick.
rvert_null var byte
lhori_null var byte
lvert_null var byte

NormalizeValue var byte
NormalizeNull var byte
DeadBand con 2

ldrive var word
rdrive var word
PanPosition var word
TiltPosition var word

GEAR var byte

Button_START var bit
Button_SELECT var bit

Button_L1 var bit
Button_L2 var bit
Button_R1 var bit
Button_R2 var bit

Button_A var bit
Button_O var bit
Button_X var bit
Button_S var bit

Dpad_UP var bit
Dpad_RIGHT var bit
Dpad_LEFT var bit
Dpad_DOWN var bit

GEAR = 3 ’ Start at Gear 3 (from 1 to 4)
PanPosition = 1500 ’ Start the servos at mid position.
TiltPosition = 1500

low p0 ’ Ensure pulsout commands are positive going.
low p1
low p18
low p19

low P10 ’ Ensure device connected to pin 10 and 11 is off on startup
low P11

high CLK ’ Ensure CLK is negative going.

sound 9, [100\880, 100\988, 100\1046, 100\1175] 'four quick ascending notes.

pause 1000

setup: ’ This section sets the PSX Controller to Analog Mode. (red LED should light)
’ This will work with Sony and Madcatz wired, but not with Medcatz wireless.
’ You must press the analog button on the controller to set to analog mode.
low SEL
shiftout CMD,CLK,FASTLSBPRE,$1\8]
shiftin DAT,CLK,FASTLSBPOST,[temp\8]
high SEL
pause 1

if (temp <> $73) and (temp <> $79) then
	low SEL
	shiftout CMD,CLK,FASTLSBPRE,$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER
	high SEL
	pause 1
	
	low SEL
	shiftout CMD,CLK,FASTLSBPRE,$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK
	high SEL
	pause 100
	
	low SEL
	shiftout CMD,CLK,FASTLSBPRE,$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE
	high SEL
	pause 1
	
	low SEL
	shiftout CMD,CLK,FASTLSBPRE,$01\8,$4D\8,$00\8,$00\8,$01\8,$FF\8,$FF\8,$FF\8,$FF\8] ;VIBRATION_ENABLE
	high SEL
	pause 1

	low SEL
	shiftout CMD,CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE
	high SEL
	pause 1
	
	low SEL
	shiftout CMD,CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT
	high SEL
	pause 1

	goto setup
	
endif

gosub get_PSX_data
gosub NullJoysticks

main:

gosub get_PSX_data

if Button_START then : gosub NullJoysticks : endif

'SET LINEARIZED JOYSTICK DISPLACEMENT BASED ON JOYSTICK CENTER POSITION
NormalizeValue = lhori : NormalizeNull = lhori_null : Gosub Normalize : lhori = NormalizeValue
NormalizeValue = lvert : NormalizeNull = lvert_null : Gosub Normalize : lvert = NormalizeValue
NormalizeValue = rhori : NormalizeNull = rhori_null : Gosub Normalize : rhori = NormalizeValue
NormalizeValue = rvert : NormalizeNull = rvert_null : Gosub Normalize : rvert = NormalizeValue

'   remove the rems (') to see the NORMALIZED joystick values in terminal 1.
'	serout S_OUT,i57600,[dec3 lhori\3," ",dec3 lvert\3," ",dec3 rhori\3," ",dec3 rvert\3," ", 13]

'SET MAX MOVEMENT SPEED TO ONE OF FOUR CHOICES AND GIVE AUDIO FEEDBACK
if Button_L1 and (Lastbuttons.bit10 = 0) then
GEAR = (GEAR + 1) MAX 4
for temp = 1 to GEAR: sound 9, [100\880]:pause 10:next
elseif BUTTON_L2 and (Lastbuttons.bit8 = 0)
GEAR = (GEAR - 1) MIN 1
for temp = 1 to GEAR: sound 9, [100\880]:pause 10:next
endif

lvert=255-lvert				' Changes vertical up from 0 to 255 and vertical down from 255 to 0.
lhori=255-lhori

'CALCULATE DRIVE SPEEDS FROM JOYSTICK POSITIONS AND SPEED LIMIT
ldrive=((lvert*GEAR) + 1500 - (GEAR 128)) ’ Forward / backward
rdrive=((lhori3) + 1500 - (3 *128)) ’ steering

'   remove the rems (') to see the calculated drive motor speeds in terminal 1.
	serout S_OUT,i57600,[dec5 ldrive\5," ",dec5 rdrive\5," ",13]


PanPosition  = (PanPosition  + (rhori-127)/5) MAX 2250 MIN 750
TiltPosition = (TiltPosition + (rvert-127)/5) MAX 2250 MIN 750



'   remove the rems (') to see the gripper and pan positions in terminal 1.
'	serout S_OUT,i57600,[dec4 GripperVertPosition\4," ",dec4 GripperTurnPosition\4," ",dec4 GripperGripPosition\4," ",dec4 PanPosition\4," ",dec4 TiltPosition\4, 13]

’ I/O on/off

if Button_A and (bpress1=0) then	' This makes a latching output pin that responds to button presses.
	bpress1=1
	toggle p10
endif
if (Button_A=0) and bpress1 then
	bpress1=0
endif 

if Button_X and (bpress2=0) then	' This makes a latching output pin that responds to button presses.
	bpress2=1
	toggle p11
endif
if (Button_X=0) and bpress2 then
	bpress2=0
endif

’ Send out the servo pulses
pulsout 1,(ldrive2) ’ Left channel.
pulsout 0,(rdrive2) ’ Right channel.
pulsout 18,(PanPosition2) ’ Pan servo.
pulsout 19,(TiltPosition2) ’ Tilt servo.

pause 20

goto main

get_PSX_data: ’ This section gets the data from the PSX controller.
’ The first byte is the mode (Temp)
’ The 2 next bytes are the pushbutton data (button1, button2).
’ The 4 next bytes are the analog joystick data (rhori,rvert,lhori,lvert).
Lastbuttons = buttons
low SEL
’ Initiate request for data from PSX controller.
shiftout CMD,CLK,FASTLSBPRE,$1\8,$42\8]
’ Temp is the Mode value, it will be dumped. Then it puts the button data into two byte variables.
shiftin DAT,CLK,FASTLSBPOST,[temp\8,buttons.LOWBYTE\8,buttons.HIGHBYTE\8,rhori\8,rvert\8,lhori\8,lvert\8]
high SEL
pause 1

buttons = buttons ^ $FFFF	' SO WE CAN USE POSITIVE BOOLEAN LOGIC WHEN EVALUATING BUTTONS

Button_SELECT 	= Buttons.bit0
Button_START 	= Buttons.bit3

Dpad_UP 		= Buttons.bit4
Dpad_RIGHT 		= Buttons.bit5
Dpad_DOWN 		= buttons.bit6
Dpad_LEFT 		= Buttons.bit7

Button_L2 		= Buttons.bit8
Button_R2 		= Buttons.bit9
Button_L1 		= Buttons.bit10
Button_R1 		= Buttons.bit11

Button_A 		= Buttons.bit12
Button_O 		= Buttons.bit13
Button_X 		= Buttons.bit14
Button_S 		= Buttons.bit15

’ remove the rems (’) to see the RAW joystick and Button values in terminal 1.
’ serout S_OUT,i57600,[bin buttons\16," “]
’ serout S_OUT,i57600,[dec3 rhori\3,” “,dec3 rvert\3,” “,dec3 lhori\3,” “,dec3 lvert\3,” "]
’ serout S_OUT,i57600,[13]
return

Normalize
if NormalizeValue < (NormalizeNull-DeadBand) then
NormalizeValue = (127NormalizeValue)/(NormalizeNull-DeadBand) MAX 127
elseif NormalizeValue > (NormalizeNull+DeadBand)
NormalizeValue = (127(NormalizeValue-NormalizeNull)/(255-DeadBand-NormalizeNull) + 127) MAX 255
else
NormalizeValue = 127
endif
return

NullJoysticks: 'READ ANALOG JOYSTICKS TO NULL OFF-CENTER VALUES
rhori_null = rhori
rvert_null = rvert
lhori_null = lhori
lvert_null = lvert
return

[/code][/code]

note that we r dealing with the 2 motor channels and the 2 servos of the pan and tilt camera stand

4

Perfectly able to be done, although using the D-Pad would probably be much less accurate than the joystick, given that the D-Pad is used like 4 buttons in this code. Do some digging in the code and it should be pretty simple to make the change if you really want to.

The code currently uses lhori and lvert for moving the robot and Dpad_UP, Dpad_RIGHT, Dpad_LEFT and, Dpad_DOWN for the gripper. You’re not using one, so you don’t need to worry about getting rid of that.

Post here if you’re having trouble with it.

That is how the code should make the robot act. If it does not, then I would recommend double-checking your robot’s configuration. Do this before modifying your code.