#include <PS2X_lib.h>  //for v1.6

PS2X ps2x; // create PS2 Controller Class

//right now, the library does NOT support hot pluggable controllers, meaning
//you must always either restart your Arduino after you conect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
 int a = 0;
//Arduino PWM Speed Control for DFRobot Motor Shield (default pins)
int E1 = 3;
int M1 = 12;
int E2 = 11;
int M2 = 13;
int lmotor = 0;
int rmotor = 0;
 int led = 10;
int light = 2;
void setup()
{
  Serial.begin(57600);

  // set pin modes for DFRobot Motor Shield. These are the modes for both motors. For example: M1 is for motor 1 and M2 is for motor 2.
  pinMode(M1, OUTPUT);
  pinMode(M2, OUTPUT);

 pinMode(led, OUTPUT);
  pinMode(light, OUTPUT);
  error = ps2x.config_gamepad(7,6,5,4, true, true);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error

  if(error == 0)
  {
    Serial.println("Found Controller, configured successful");
    Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
    Serial.println("holding L1 or R1 will print out the analog stick values.");
    Serial.println("Go to www.billporter.info for updates and to report bugs.");
   }
   else if(error == 1)
   {
     Serial.println("No controller found, check wiring, see readme.txt to enable debug. 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();
   if (type != 1)
   {
     Serial.println("warning: DualShock Controller Not Found!");
   }
}

void loop()
{
 if(error == 1) //skip loop if no controller found
  return;
 if (type == 1)
 {
    ps2x.read_gamepad(false, vibrate);          //read controller and set large motor to spin at 'vibrate' speed
 if (ps2x.Button(PSB_PINK)){                    // On this line I just added another button that I can use on my controller to turn on muy led lights. The color of the button is pink so that is what it's called.
   if( a == 0)
     a = 1;
  else
    a = 0;}

    if (a == 0){
  digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
  digitalWrite(light, LOW);    // turn the LED off by making the voltage LOW
    }
  else
   {
  digitalWrite(led, HIGH);    // turn the LED off by making the voltage LOW
  digitalWrite(light, HIGH);    // turn the LED off by making the voltage LOW
    }


   lmotor = 0;
   if (ps2x.Button(PSB_L1))  // this is the left motor speed. 255 is the top speed that the tank goes forward for the left motor. The -255 is the top speed that the tank goes backwards.
                             // it is the same way with the right motor. It works the same way that the right motor works.
     lmotor = 255;
   if (ps2x.Button(PSB_L2))
     lmotor = -255;

   rmotor = 0;
   if (ps2x.Button(PSB_R1))
     rmotor = 255;
   if (ps2x.Button(PSB_R2))
     rmotor = -255;

 }
 else
 {
   lmotor = 0;
   rmotor = 0;
 }

 // update motors
   if (lmotor < 0)
   {
    digitalWrite(M1, LOW);
    analogWrite(E1, -lmotor);   //PWM Speed Control
   }
   else
   {
    digitalWrite(M1, HIGH);
    analogWrite(E1, lmotor);   //PWM Speed Control
   }

   if (rmotor < 0)
   {
    digitalWrite(M2, LOW);
    analogWrite(E2, -rmotor);   //PWM Speed Control
   }
   else
   {
    digitalWrite(M2, HIGH);
    analogWrite(E2, rmotor);   //PWM Speed Control
   }
                               // the HIGH means that the motors are at full speed and it is what makes it move. The low means that the motors are stopped.
 delay(30);                    // I added the led code in this so that I can get everything on my tank working together.
}