Race Game DIY

  #include <Bluepad32.h> #include <ESP32Servo.h> const int servoPin = 12; // yellow wire const int escPin = 13; // white wire Servo servo1; Servo esc; // ================= LED VALUES ========================= bool copLightsActive, lightActive = false; // LED state bool escAlreadySet = false; bool previousButtonState = HIGH; // Previous button state const int ledBrakePin = 14; const int ledHeadlightPin = 27; // ================= PEDALS VALUES ========================= int throttleValue, brakeValue, escValue, servoValue, panValue, tiltValue, gyroValue, accelValue; int escSlowSpeed = 200; // int escSlowSpeed = 1700; int escNormalSpeed = 300; // int escNormalSpeed = 1800; int escMaxSpeed = 500; // int escMaxSpeed = 2000; // ================= NITRO VALUES ========================= int nitroAmmo = 1; int nitroDuration = 5000; // 5 seconds unsigned long nitroStartTime = 0; bool nitroActivated = false; // 1==false ; 0==true; // ================= GUN VALUES ========================= int gunAmmo = 1; int gunDuration = 3000; // 3 seconds unsigned long gunStartTime = 0; bool gunActivated = false; // ================= HORN VALUES ========================= int hornAmmo = 1; int hornDuration = 3000; // 3 seconds unsigned long hornStartTime = 0; bool hornActivated = false; // ================= BUTTON PRESSED VALUES ========================= // Define global variables float value = 100.0; // Initial value (100%) unsigned long lastSubtractTime = 0; // Time tracker for subtracting unsigned long lastAddTime = 0; // Time tracker for adding unsigned long buttonReleaseTime = 0;// Time when the button was released bool buttonHeld = false; // Whether the button is held bool buttonReleased = false; // Whether the button was released bool addingActive = false; // Array of values int values[] = {10, 20, 30, 40, 50}; int arrayLength = sizeof(values) / sizeof(values[0]); // Calculate the array length int currentIndex = 0; // Start at the first value in the array ControllerPtr myControllers[BP32_MAX_GAMEPADS]; // This callback gets called any time a new gamepad is connected. // Up to 4 gamepads can be connected at the same time. void onConnectedController(ControllerPtr ctl) { bool foundEmptySlot = false; for (int i = 0; i < BP32_MAX_GAMEPADS; i++) { if (myControllers[i] == nullptr) { Serial.printf("CALLBACK: Controller is connected, index=%d\n", i); // Additionally, you can get certain gamepad properties like: // Model, VID, PID, BTAddr, flags, etc. ControllerProperties properties = ctl->getProperties(); Serial.printf("Controller model: %s, VID=0x%04x, PID=0x%04x\n", ctl->getModelName().c_str(), properties.vendor_id, properties.product_id); myControllers[i] = ctl; foundEmptySlot = true; break; } } if (!foundEmptySlot) { Serial.println("CALLBACK: Controller connected, but could not found empty slot"); } } void onDisconnectedController(ControllerPtr ctl) { bool foundController = false; for (int i = 0; i < BP32_MAX_GAMEPADS; i++) { if (myControllers[i] == ctl) { Serial.printf("CALLBACK: Controller disconnected from index=%d\n", i); myControllers[i] = nullptr; foundController = true; break; } } if (!foundController) { Serial.println("CALLBACK: Controller disconnected, but not found in myControllers"); } } // ========= SEE CONTROLLER VALUES IN SERIAL MONITOR ========= // void dumpGamepad(ControllerPtr ctl) { Serial.printf( "idx=%d, dpad: 0x%02x, buttons: 0x%04x, axis L: %4d, %4d, axis R: %4d, %4d, brake: %4d, throttle: %4d, " "misc: 0x%02x, gyro x:%6d y:%6d z:%6d, accel x:%6d y:%6d z:%6d\n", ctl->index(), // Controller Index ctl->dpad(), // D-pad ctl->buttons(), // bitmask of pressed buttons ctl->axisX(), // (-511 - 512) left X Axis ctl->axisY(), // (-511 - 512) left Y axis ctl->axisRX(), // (-511 - 512) right X axis ctl->axisRY(), // (-511 - 512) right Y axis ctl->brake(), // (0 - 1023): brake button ctl->throttle(), // (0 - 1023): throttle (AKA gas) button ctl->miscButtons(), // bitmask of pressed "misc" buttons ctl->gyroX(), // Gyro X ctl->gyroY(), // Gyro Y ctl->gyroZ(), // Gyro Z ctl->accelX(), // Accelerometer X ctl->accelY(), // Accelerometer Y ctl->accelZ() // Accelerometer Z ); } // ========= GAME CONTROLLER ACTIONS SECTION ========= // void processGamepad(ControllerPtr ctl) { // There are different ways to query whether a button is pressed. // By query each button individually: // a(), b(), x(), y(), l1(), etc... //== PS4 X button = 0x0001 ==// if (ctl->buttons() == 0x0001) { // code for when X button is pushed checkNitroButton(); } if (ctl->buttons() != 0x0001) { // code for when X button is released } //== PS4 Square button = 0x0004 ==// if (ctl->buttons() == 0x0004) { // code for when square button is pushed checkGunButton(); } if (ctl->buttons() != 0x0004) { // code for when square button is released } //== PS4 Triangle button = 0x0008 ==// if (ctl->buttons() == 0x0008) { checkHornButton(); // code for when triangle button is pushed } if (ctl->buttons() != 0x0008) { // code for when triangle button is released } //== PS4 Circle button = 0x0002 ==// if (ctl->buttons() == 0x0002) { // code for when circle button is pushed checkHornButton(); } if (ctl->buttons() != 0x0002) { // code for when circle button is released } //== PS4 Share miscButtons = 0x02 ==// if (ctl->miscButtons() == 0x02) { // code for when Share button is pushed Serial.print("Share button is pushed "); } //== PS4 Option miscButtons = 0x04 ==// if (ctl->miscButtons() == 0x04) { // code for when Option button is pushed Serial.print("Option button is pushed "); } //== PS4 PS miscButtons = 0x01 ==// if (ctl->miscButtons() == 0x01) { // code for when PS button is pushed Serial.print("PS button is pushed "); } //== PS4 Dpad UP button = 0x01 ==// if (ctl->dpad() == 0x01) { // code for when dpad up button is pushed escValue = 2000; } if (ctl->dpad() != 0x01) { // code for when dpad up button is released escValue = 1500; } //==PS4 Dpad DOWN button = 0x02==// if (ctl->dpad() == 0x02) { // code for when dpad down button is pushed escValue = 1000; } if (ctl->dpad() != 0x02) { // code for when dpad down button is released escValue = 1500; } //== PS4 Dpad LEFT button = 0x08 ==// if (ctl->dpad() == 0x08) { // code for when dpad left button is pushed servoValue = 0; } if (ctl->dpad() != 0x08) { // code for when dpad left button is released servoValue = 90; } //== PS4 Dpad RIGHT button = 0x04 ==// if (ctl->dpad() == 0x04) { // code for when dpad right button is pushed servoValue = 180; } if (ctl->dpad() != 0x04) { // code for when dpad right button is released servoValue = 90; } //== PS4 R1 trigger button = 0x0020 ==// if (ctl->buttons() == 0x0020) { // code for when R1 button is pushed } if (ctl->buttons() != 0x0020) { // code for when R1 button is released } //== PS4 R2 trigger button = 0x0080 ==// if (ctl->throttle() >= 25) { // code for when R2 button is pushed if (nitroActivated == true){ throttleValue = map(ctl->throttle(), 0, 1023, 0, escMaxSpeed); }else{ throttleValue = map(ctl->throttle(), 0, 1023, 0, escNormalSpeed); } Serial.print("throttleValue: "); Serial.println(throttleValue); } if (ctl->throttle() < 25) { // code for when R2 button is released throttleValue = 0; } //== PS4 L1 trigger button = 0x0010 ==// if (ctl->buttons() == 0x0010) { // code for when L1 button is pushed toggleLED(); } if (ctl->buttons() != 0x0010) { // code for when L1 button is released } //== PS4 L2 trigger button = 0x0040 ==// if (ctl->brake() >= 25) { // code for when L2 button is pushed brakeValue = map(ctl->brake(), 0, 1023, 0, 500); Serial.print("brakeValue: "); Serial.println(brakeValue); } if (ctl->brake() < 25) { // code for when L2 button is released brakeValue = 0; } //== LEFT JOYSTICK - UP ==// if (ctl->axisY() <= -25) { // code for when left joystick is pushed up } //== LEFT JOYSTICK - DOWN ==// if (ctl->axisY() >= 25) { // code for when left joystick is pushed down } //== LEFT JOYSTICK - LEFT/RIGHT ==// if (ctl->axisX()) { // code for when left joystick is pushed left servoValue = map(ctl->axisX(), -512, 512, 0, 180); Serial.print("servoValue: "); Serial.println(servoValue); } //== LEFT JOYSTICK - LEFT ==// if (ctl->axisX() <= -25) { // code for when left joystick is pushed left } //== LEFT JOYSTICK - RIGHT ==// if (ctl->axisX() >= 25) { // code for when left joystick is pushed right } //== LEFT JOYSTICK - LEFT ==// if (ctl->gyroY()) { // code for when left joystick is pushed left gyroValue = map(ctl->gyroY(), -512, 512, 0, 180); Serial.print("gyroValue: "); Serial.println(gyroValue); } if (ctl->accelY()) { // code for when left joystick is pushed left accelValue = map(ctl->accelY(), -512, 512, 0, 180); Serial.print("accelValue: "); Serial.println(accelValue); } //== LEFT JOYSTICK DEADZONE ==// if (ctl->axisY() > -25 && ctl->axisY() < 25 && ctl->axisX() > -25 && ctl->axisX() < 25) { // code for when left joystick is at idle // escValue = 1500; } //== RIGHT JOYSTICK - X AXIS ==// if (ctl->axisRX()) { // code for when right joystick moves along x-axis panValue = map(ctl->axisRX(), -512, 512, 0, 180); // Serial.print("panValue: "); // Serial.println(panValue); } //== RIGHT JOYSTICK - Y AXIS ==// if (ctl->axisRY()) { // code for when right joystick moves along y-axis tiltValue = map(ctl->axisRY(), -512, 512, 0, 180); // Serial.print("tiltValue: "); // Serial.println(tiltValue); } //== RIGHT JOYSTICK DEADZONE ==// if (ctl->axisRY() > -25 && ctl->axisRY() < 25 && ctl->axisRX() > -25 && ctl->axisRX() < 25) { // code for when left joystick is at idle } // Mix both pedal values before sending to the ESC and make sure it's in range escValue = constrain((1500 + throttleValue - brakeValue), 1000, 2000); // if (escValue >= 1450 && escValue <= 1550 ){ escValue = 1500; } //make it smoother esc.writeMicroseconds(escValue); servo1.write(servoValue); // if the car is going backwards, light up the tail lights if (escValue < 1450) { digitalWrite(ledBrakePin, HIGH); }else{ digitalWrite(ledBrakePin, LOW); } dumpGamepad(ctl); } void processControllers() { for (auto myController : myControllers) { if (myController && myController->isConnected() && myController->hasData()) { if (myController->isGamepad()) { processGamepad(myController); } else { Serial.println("Unsupported controller"); } } } } // Arduino setup function. Runs in CPU 1 void setup() { Serial.begin(115200); servo1.attach(servoPin); esc.attach(escPin); pinMode(ledHeadlightPin, OUTPUT); pinMode(ledBrakePin, OUTPUT); digitalWrite(ledBrakePin, LOW); digitalWrite(ledHeadlightPin, LOW); Serial.printf("Firmware: %s\n", BP32.firmwareVersion()); const uint8_t* addr = BP32.localBdAddress(); Serial.printf("BD Addr: %2X:%2X:%2X:%2X:%2X:%2X\n", addr[0], addr[1], addr[2], addr[3], addr[4], addr[5]); // Setup the Bluepad32 callbacks BP32.setup(&onConnectedController, &onDisconnectedController); // "forgetBluetoothKeys()" should be called when the user performs // a "device factory reset", or similar. // Calling "forgetBluetoothKeys" in setup() just as an example. // Forgetting Bluetooth keys prevents "paired" gamepads to reconnect. // But it might also fix some connection / re-connection issues. BP32.forgetBluetoothKeys(); // Enables mouse / touchpad support for gamepads that support them. // When enabled, controllers like DualSense and DualShock4 generate two connected devices: // - First one: the gamepad // - Second one, which is a "virtual device", is a mouse. // By default, it is disabled. BP32.enableVirtualDevice(false); } // Arduino loop function. Runs in CPU 1. void loop() { // This call fetches all the controllers' data. // Call this function in your main loop. bool dataUpdated = BP32.update(); if (dataUpdated) processControllers(); // The main loop must have some kind of "yield to lower priority task" event. // Otherwise, the watchdog will get triggered. // If your main loop doesn't have one, just add a simple `vTaskDelay(1)`. // Detailed info here: // https://stackoverflow.com/questions/66278271/task-watchdog-got-triggered-the-tasks-did-not-reset-the-watchdog-in-time vTaskDelay(1); // delay(150); } void setupESC() { Serial.print("setupESC triggered "); // this is so this code run only once. if (escAlreadySet == false) { esc.writeMicroseconds(1500); delay(500); esc.writeMicroseconds(2000); delay(1000); esc.writeMicroseconds(1500); delay(500); esc.writeMicroseconds(1000); delay(1000); esc.writeMicroseconds(1500); delay(500); esc.writeMicroseconds(1000); delay(1000); esc.writeMicroseconds(1500); escAlreadySet = true; } }; void toggleLED() { Serial.print("toggleLED triggered "); // Read the current button state bool currentButtonState = digitalRead(ledHeadlightPin);; // Check if the button is pressed and released if (previousButtonState == HIGH && currentButtonState == LOW) { // Toggle the LED state lightActive = !lightActive; // Set the LED to the new state digitalWrite(ledHeadlightPin, lightActive ? HIGH : LOW); } // Update the previous button state for the next loop previousButtonState = currentButtonState; } void checkNitroButton() { Serial.print("checkNitroButton triggered "); if (!nitroActivated) { // Button pressed and nitro is not currently in use nitroStartTime = millis(); // Record the time when nitro was activated nitroActivated = true; nitroAmmo--; } // Check if X seconds have passed since nitro was activated if (nitroActivated && (millis() - nitroStartTime >= nitroDuration)) { nitroActivated = false; } }; void checkGunButton() { Serial.print("checkGunButton triggered "); if (!gunActivated) { // Button pressed and gun is not currently in use gunStartTime = millis(); // Record the time when gun was activated gunActivated = true; gunAmmo--; } // Check if X seconds have passed since gun was activated if (gunActivated && (millis() - gunStartTime >= gunDuration)) { gunActivated = false; } }; void checkHornButton() { Serial.print("checkHornButton triggered "); if (!hornActivated) { // Button pressed and nitro is not currently in use hornStartTime = millis(); // Record the time when nitro was activated hornActivated = true; hornAmmo--; } // Check if X seconds have passed since nitro was activated if (hornActivated && (millis() - hornStartTime >= hornDuration)) { hornActivated = false; } };