ESP32智能小车+PS2无线遥控器+麦克纳姆轮+microPython

from machine import Pin,PWM
from ps2 import PS2Controller
import time
import os

# #############################################
# PS2 遥控器
# #############################################
ps2ctl = PS2Controller(di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12)
ps2ctl.init()

# #############################################
# 小车轮子控制
# #############################################
pin1=PWM(Pin(19),freq=1000)  #左前 红1
pin2=PWM(Pin(18),freq=1000)
pin3=PWM(Pin( 5),freq=1000)  #左后 红3
pin4=PWM(Pin(17),freq=1000)
pin5=PWM(Pin(16),freq=1000)  #右前 黑5
pin6=PWM(Pin( 4),freq=1000)
pin7=PWM(Pin( 0),freq=1000)  #右后 黑7
pin8=PWM(Pin( 2),freq=1000)

#前进
def car_forward(speed):
  pin1.duty(speed)  #左前
  pin2.duty(0)
  pin3.duty(speed)  #左后
  pin4.duty(0)
  pin5.duty(speed)  #右前
  pin6.duty(0)
  pin7.duty(speed)  #右后
  pin8.duty(0)  

#后退、倒车、倒转
def car_back(speed):
  pin1.duty(0)     #左前
  pin2.duty(speed)
  pin3.duty(0)     #左后
  pin4.duty(speed)
  pin5.duty(0)     #右前
  pin6.duty(speed)  
  pin7.duty(0)     #右后
  pin8.duty(speed)  

# 普通左转 = 左前、左后后退， 右前、右后前进
def car_left(speed):
  pin1.duty(0)     #左前
  pin2.duty(speed)
  pin3.duty(0)     #左后
  pin4.duty(speed)
  pin5.duty(speed)     #右前
  pin6.duty(0)  
  pin7.duty(speed)     #右后
  pin8.duty(0)  

# 普通右转 = 左前、左后前进， 右前、右后后退  
def car_right(speed):
  pin1.duty(speed)   #左前
  pin2.duty(0)
  pin3.duty(speed)   #左后
  pin4.duty(0)
  pin5.duty(0)     #右前
  pin6.duty(speed)  
  pin7.duty(0)     #右后
  pin8.duty(speed)  

#停车、停止
def car_stop():
  pin1.duty(0)
  pin2.duty(0)
  pin3.duty(0)
  pin4.duty(0)
  pin5.duty(0)
  pin6.duty(0)
  pin7.duty(0)
  pin8.duty(0)

#  左平移=左前倒转、左后前进、右前前进、右后倒转
def car_left_pingyi(speed):
  pin1.duty(0)  #左前
  pin2.duty(speed)
  pin3.duty(speed)  #左后
  pin4.duty(0)
  pin5.duty(speed)  #右前
  pin6.duty(0)
  pin7.duty(0)  #右后
  pin8.duty(speed)  
  
#  右平移=左前前进、左后倒转、右前倒转、右后前进
def car_right_pingyi(speed):
  pin1.duty(speed)  #左前
  pin2.duty(0)
  pin3.duty(0)  #左后
  pin4.duty(speed)
  pin5.duty(0)  #右前
  pin6.duty(speed)
  pin7.duty(speed)  #右后
  pin8.duty(0) 

# 左上角 = 左前不动、左后前进、右前前进、右后不动
def car_left_up(speed):
  pin1.duty(0)  #左前
  pin2.duty(0)
  pin3.duty(speed)  #左后
  pin4.duty(0)
  pin5.duty(speed)  #右前
  pin6.duty(0)
  pin7.duty(0)  #右后
  pin8.duty(0)  
  
# 左下角 = 左前倒退、左后不动、右前不动、右后倒退
def car_left_down(speed):
  pin1.duty(0)  #左前
  pin2.duty(speed)
  pin3.duty(0)  #左后
  pin4.duty(0)
  pin5.duty(0)  #右前
  pin6.duty(0)
  pin7.duty(0)  #右后
  pin8.duty(speed)  
  
# 右上角 =  左前前进、左后不动、右前不动、右后前进
def car_right_up(speed):
  pin1.duty(speed)  #左前
  pin2.duty(0)
  pin3.duty(0)  #左后
  pin4.duty(0)
  pin5.duty(0)  #右前
  pin6.duty(0)
  pin7.duty(speed)  #右后
  pin8.duty(0)    
  
# 右下角 =  左前不动、左后倒退、右前倒退、右后不动
def car_right_down(speed):
  pin1.duty(0)  #左前
  pin2.duty(0)
  pin3.duty(0)  #左后
  pin4.duty(speed)
  pin5.duty(0)  #右前
  pin6.duty(speed)
  pin7.duty(0)  #右后
  pin8.duty(0)   
  
# ##################################################  
# 主循环开始！！！
# ##################################################
i=1  #循环次数
speed=400   #初始速度，最高1000. 低于400容易电压太低驱动不了
print("小车程序开始运行，正在等待PS2遥控器按键(按start停车)")
try:
  while True:

    key_car= ps2ctl.read_once()   # 收到的字符格式为 keys:UP,RIGHT: pos(lx,ly):0,-1: pos(rx,ry): 0,-1:
    #print("检测到按键：",key_car)    
    key_list= key_car.split(':')  # 用：来将字符串进行分割，写入数组key_list中
    # key_list[1]  输入的按键
    # key_list[3]  左摇杆坐标
    # key_list[5]  右摇杆坐标

    # 停止 = 遥控器 start = 4    
    if key_list[1]=="START" : 
      print(key_car," 停止.......")
      car_stop()

    # 前进 = 遥控器 左摇杆 上 = 5
    # 前进 = 遥控器 右摇杆 上 = 13    
    if key_list[1]=="UP" or key_list[1]=="TRIANGLE": 
      print(key_car," 前进")
      car_forward(speed)
      
    # 后退 = 遥控器 左摇杆 下 = 7 
    # 后退 = 遥控器 右摇杆 下 = 15          
    if key_list[1]=="DOWN" or key_list[1]=="CROSS": 
      print(key_car," 后退")
      car_back(speed)

    # 左平移 = 遥控器 左摇杆左 = 8
    if key_list[1]=="LEFT": 
      print(key_car," 左平移")
      car_left_pingyi(speed)
      
    # 右平移 = 遥控器 左摇杆右 = 6
    if key_list[1]=="RIGHT": 
      print(key_car," 右平移")
      car_right_pingyi(speed)
      
    # 左转 = 遥控器 右摇杆 左 = 16
    if key_list[1]=="SQUARE" : 
      print(key_car," 左转")
      car_left(speed)
    
    # 右转 = 遥控器 右摇杆 右 = 14
    if key_list[1]=="CIRCLE": 
      print(key_car," 右转")
      car_right(speed) 
      
    # 左上方 = 遥控器 左L1 = 11
    if key_list[1]=="UP,LEFT": 
      print(key_car," 左上方")
      car_left_up(speed) 
      
    # 左下方 = 遥控器 左L2 = 9
    if key_list[1]=="DOWN,LEFT": 
      print(key_car," 左下方")
      car_left_down(speed) 
      
    # 右上方 = 遥控器 右R1 = 12
    if key_list[1]=="UP,RIGHT": 
      print(key_car," 右上方")
      car_right_up(speed) 

    # 右下方 = 遥控器 右R2 = 10  
    if key_list[1]=="RIGHT,DOWN": 
      print(key_car," 右下方")
      car_right_down(speed) 
      
    # L1 加速
    if key_list[1]=="L1"  and speed<1000: 
      speed=speed+100
      print("当前速度已经加速至：",speed)
      
    # L2 减速
    if key_list[1]=="L2"  and speed>400: 
      speed=speed-100
      print("当前速度已经降低至：",speed)  
      
    # 右侧 三角+X，同时按下，删除main.py 取消自动启动
    if key_list[1]=="TRIANGLE,CROSS" : 
      os.remove("main.py")
      print("-----------  main.py 已经删除 ----------")       
      car_stop()

    # SELECT = 1    L3 = 2    R3 = 3    START = 4    
    # UP = 5    RIGHT = 6    DOWN = 7    LEFT = 8    
    # L2 = 9    R2 = 10    L1 = 11    R1 = 12
    # TRIANGLE = 13    CIRCLE = 14    CROSS = 15    SQUARE = 16
  
    i=i+1
    time.sleep(0.1)
    
except KeyboardInterrupt:
    print('KeyboardInterrupt 程序被人为中止....')
finally:
    pin1.deinit()
    pin2.deinit()
    pin3.deinit()
    pin4.deinit()
    pin5.deinit()
    pin6.deinit()
    pin7.deinit()
    pin8.deinit()    
    print('Exit 程序共运行了'+str(i)+'次，程序结束。')

需要用到ps2.py文件，可查看ESP32+PS2 无线手柄转接板+microPython-CSDN博客

ps2.py

import time
from machine import Pin
 
class PS2Controller:
    # These are our button constants
    SELECT = 1
    L3 = 2
    R3 = 3
    START = 4
    UP = 5
    RIGHT = 6
    DOWN = 7
    LEFT = 8
    L2 = 9
    R2 = 10
    L1 = 11
    R1 = 12
    TRIANGLE = 13
    CIRCLE = 14
    CROSS = 15
    SQUARE = 16
    KEYS = dict([
                  (SELECT, "SELECT"),        (L3, "L3"),        (R3, "R3"),        (START, "START"),
                  (UP, "UP"),        (RIGHT, "RIGHT"),        (DOWN, "DOWN"),        (LEFT, "LEFT"),
                  (L2, "L2"),        (R2, "R2"),        (L1, "L1"),        (R1, "R1"),
                  (TRIANGLE, "TRIANGLE"),        (CIRCLE, "CIRCLE"),        (CROSS, "CROSS"),        (SQUARE, "SQUARE")  ])
 
    CTRL_CLK = 10
    CTRL_BYTE_DELAY = 16
 
    CMD_SHORT_POLL   = [0x01, 0x42, 0x00, 0x00, 0x00]
    CMD_ENTER_CONFIG = [0x01, 0x43, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00]
    CMD_SET_MODE     = [0X01, 0x44, 0x00,
                        0x01,  # 00 normal; 01 red or analog
                        0x03,  # 03 lock; ee no lock
                        0x00, 0x00, 0x00, 0x00]
    CMD_SET_BYTES_LARGE = [0x01, 0x4F, 0x00, 0xFF, 0xFF, 0x03, 0x00, 0x00, 0x00]
    CMD_EXIT_CONFIG     = [0x01, 0x43, 0x00, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A]
    CMD_ENABLE_RUMBLE   = [0x01, 0x4D, 0x00, 0x00, 0x01]
    CMD_TYPE_READ       = [0x01, 0x45, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A]
    CMD_READ_DATA       = [0X01, 0X42, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00]
 
    MAX_READ_DELAY = 1500
 
    VALID_MODES = [0X41, 0X73]
 
    def __init__(self, di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12):  # DI=DAT、DO=CMD 可以在此处将针脚调整为你自己对应的针脚
        self.di_pin_no = di_pin_no
        self.do_pin_no = do_pin_no
        self.cs_pin_no = cs_pin_no
        self.clk_pin_no = clk_pin_no
        self.di  = Pin(self.di_pin_no, Pin.IN)  # DI = DAT
        self.do  = Pin(self.do_pin_no, Pin.OUT) # DO = CMD
        self.cs  = Pin(self.cs_pin_no, Pin.OUT)
        self.clk = Pin(self.clk_pin_no, Pin.OUT)
        self.buff_out = [0x01, 0x42]
        self.buff_in = [0] * 9
        self.pressed_keys = []
        self.read_delay = 1
        self.last_read_ms = 0
        self.lx = 0
        self.ly = 0
        self.rx = 0
        self.ry = 0
 
    @property
    def red_mode(self):  # analog mode
        return self.buff_in[1] & 0xf0 == 0x70
 
    def do_h(self):
        self.do.value(1)
 
    def do_l(self):
        self.do.value(0)
 
    def cs_h(self):
        self.cs.value(1)
 
    def cs_l(self):
        self.cs.value(0)
 
    def clk_h(self):
        self.clk.value(1)
 
    def clk_l(self):
        self.clk.value(0)
 
 
    # noinspection PyUnresolvedReferences
    def delay_byte(self):
        time.sleep_us(self.read_delay)
 
    # noinspection PyUnresolvedReferences
    def delay_clk(self):
        time.sleep_us(self.CTRL_CLK)
 
    # noinspection PyUnresolvedReferences
    def delay_read(self):
        time.sleep_us(self.CTRL_BYTE_DELAY)
        # time.sleep_ms(self.read_delay)
 
    def cmd(self, cmd):
        ret = 0
        for i in range(8):
            if cmd & 1 << i:
                self.do_h()
            else:
                self.do_l()
            self.clk_l()
            self.delay_clk()
            if self.di.value():
                ret |= 1 << i
            self.clk_h()
        self.do_h()
        self.delay_byte()
        return ret
 
    """
    :param 
    pure True means not delay
    """
 
    def cmd_group(self, cmds):
        self.cs_l()
        self.delay_byte()
        for cmd in cmds:
            self.cmd(cmd)
        self.cs_h()
        self.delay_read()
 
    def init(self):
        self.di  = Pin(self.di_pin_no, Pin.IN)
        self.do  = Pin(self.do_pin_no, Pin.OUT)
        self.cs  = Pin(self.cs_pin_no, Pin.OUT)
        self.clk = Pin(self.clk_pin_no, Pin.OUT)
        self.do_h()
        self.clk_h()
 
        self.read_once()
        self.read_once()
        #
        if self.buff_in[1] not in [0x41, 0x73]:
            print("control type not ok, expect 41 73 79, bug get ", "{:02x}".format(self.buff_in[1]))
            return 1
 
        self.read_delay = 1
 
        for i in range(10):
            # self.cmd_group(self.CMD_SHORT_POLL)
            # self.cmd_group(self.CMD_SHORT_POLL)
            # self.cmd_group(self.CMD_SHORT_POLL)
            self.cmd_group(self.CMD_ENTER_CONFIG)
            self.delay_byte()
 
            self.do_h()
            self.clk_h()
            self.cs_l()
 
            self.delay_byte()
            #
            temp = [0] * len(self.CMD_TYPE_READ)
            for j in range(9):
                for cmd in self.CMD_TYPE_READ:
                    temp[j] = self.cmd(cmd)
            self.cs_h()
 
            self.cmd_group(self.CMD_SET_MODE)
            # self.cmd_group(self.CMD_ENABLE_RUMBLE)
            self.cmd_group(self.CMD_EXIT_CONFIG)
            self.read_once()
            if self.buff_in[1] in self.VALID_MODES:
                print("read_delay configed,", self.read_delay)
                break
            else:
                self.read_delay += 1
                print("read_delay++,", self.read_delay)
 
    def reconfig(self):
        print("reconfig")
        self.cmd_group(self.CMD_ENTER_CONFIG)
        self.cmd_group(self.CMD_SET_MODE)
        self.cmd_group(self.CMD_EXIT_CONFIG)
 
    def p(self, debug=True):
        if debug:
            for d in self.buff_in:
                print("{:08b}".format(d))
 
        key_raw = (self.buff_in[4] << 8) | self.buff_in[3]
        for i in range(1, 17):
            if not key_raw & 1 << i - 1:
                self.pressed_keys.append(i)
 
        if self.red_mode:
            self.rx = self.buff_in[5] - 128
            self.ry = self.buff_in[6] - 128
            self.lx = self.buff_in[7] - 128
            self.ly = self.buff_in[8] - 128
        if self.pressed_keys:
            out = "keys:" + ','.join(self.KEYS[k] for k in self.pressed_keys) + "; "
        else:
            out = ""
        # for key in self.pressed_keys:
        #     print(key, self.KEYS[key])
        if self.red_mode and (out or any(x != 0 for x in [self.rx, self.ry, self.lx, self.ly])):
            out += "pos: (lx,ly):{},{};  (rx,ry): {},{}".format(self.lx, self.ly, self.rx, self.ry)
 
        if out:
            print(out)
 
    def read_once(self, debug=False):
        now = time.ticks_ms()
        delay = now - self.last_read_ms
        if delay > self.MAX_READ_DELAY:
            print(now, self.last_read_ms, delay)
            self.reconfig()
        elif delay < self.read_delay:
            # noinspection PyUnresolvedReferences
            time.sleep_ms(self.read_delay - delay)
 
        self.buff_in = [0] * 9
        self.pressed_keys.clear()
 
        for j in range(5):
            # for i in range(1):
            self.do_h()
            self.clk_h()
            self.cs_l()
            self.delay_byte()
 
            for i, c in enumerate(self.CMD_READ_DATA):
                self.buff_in[i] = self.cmd(c)
 
            self.cs_h()
 
            if self.buff_in[1] in self.VALID_MODES:
                break
            else:
                print("mode: {:08b}, retry_J: {}".format(self.buff_in[1], j))
                self.reconfig()
                self.delay_read()
        if self.buff_in[1] not in self.VALID_MODES and self.read_delay < 10:
            self.read_delay += 1
 
        self.last_read_ms = time.ticks_ms()
        #self.p(debug)
 
        #以下为自己添加 ，原P()内的代码
        key_raw = (self.buff_in[4] << 8) | self.buff_in[3]
        for i in range(1, 17):
            if not key_raw & 1 << i - 1:
                self.pressed_keys.append(i)
 
        if self.red_mode:
            self.rx = self.buff_in[5] - 128
            self.ry = self.buff_in[6] - 128
            self.lx = self.buff_in[7] - 128
            self.ly = self.buff_in[8] - 128
        if self.pressed_keys:      #注意下面这几行的:和,千万不要修改，后面要他们做标记分割使用！
            out = "keys:" + ','.join(self.KEYS[k] for k in self.pressed_keys) + ": "
        else:
            out = "keys:无:"
        # for key in self.pressed_keys:
        #     print(key, self.KEYS[key])
        if self.red_mode and (out or any(x != 0 for x in [self.rx, self.ry, self.lx, self.ly])):
            out += "pos(lx,ly):{},{}:  pos(rx,ry):{},{}:".format(self.lx, self.ly, self.rx, self.ry)
        if out:
            print(out)
            
        #return self.buff_in
        return out
 
'''
# 调用方法，将以下几行代码新建一个文件如：ps2_test.py
from ps2 import PS2Controller
import time
ps2ctl = PS2Controller(di_pin_no=26, do_pin_no=27, cs_pin_no=14, clk_pin_no=12)
ps2ctl.init()
while True:
    key_car= ps2ctl.read_once()   # 收到的字符格式为 keys:UP,RIGHT: pos(lx,ly):0,-1: pos(rx,ry): 0,-1:
    #print("检测到按键：",key_car)    
    key_list= key_car.split(':')  # 用：来将字符串进行分割，写入数组key_list中  key_list[1]输入的按键、key_list[3]左摇杆坐标、key_list[5]右摇杆坐标
    if key_list[1]=="UP": 
      print(key_car," 前进")
      
    if key_list[1]=="UP,LEFT": 
      print(key_car," 左上方")
    time.sleep(0.2)
'''