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- #include <Servo.h> //For driving the ESCs and Servos
- #include <PS2X_lib.h> // Bill Porter's PS2X Library
- PS2X ps2x; //The PS2 Controller Class
- Servo UpRServo; //Create servo object representing up right ESC
- int RollLeftVal = 0; //Value read off the PS2 Left Stick left/right
- //Variables to carry the actual raw data for the ESCs
- int upRraw = 0;
- void setup(){
- ps2x.config_gamepad(A0,A2,13,A1, true, false);
- //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?)
- //We have disabled the pressure sensitivity and rumble in this instance and
- //we know the controller type so we have not bothered with the error checks
- UpRServo.attach(6);// attaches the Up Right Servo to pin 6
- }
- void loop(){
- ps2x.read_gamepad(); //This needs to be called at least once a second
- // to get data from the controller.
- //Analogue Stick readings
- RollLeftVal = ps2x.Analog(PSS_LX);
- //Variables to carry the actual raw data for the ESCs
- upRraw = (127-RollLeftVal); //This will be up to a value of 192
- //Scale the values to be suitable for ESCs and Servos
- upRraw=map(upRraw,-127,127,0,179);
- //Write it to the Servos or ESCs
- UpRServo.write(upRraw);
- delay(15);
- }
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