树莓派PICO控制遥控手柄

import time from machine import Pin PSB_SELECT = 1 PSB_L3 = 2 PSB_R3 = 3 PSB_START = 4 PSB_PAD_UP = 5 PSB_PAD_RIGHT = 6 PSB_PAD_DOWN = 7 PSB_PAD_LEFT = 8 PSB_L2 = 9 PSB_R2 = 10 PSB_L1 = 11 PSB_R1 = 12 PSB_GREEN = 13 PSB_RED = 14 PSB_BLUE = 15 PSB_PINK = 16 PSB_TRIANGLE = 13 PSB_CIRCLE = 14 PSB_CROSS = 15 PSB_SQUARE = 26 #右摇杆X轴数据 PSS_RX = 5 PSS_RY = 6 PSS_LX = 7 PSS_LY = 8 comd = [0x01, 0x42] #开始指令 data = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]#数据存储数组 mask=[ PSB_SELECT, PSB_L3, PSB_R3 , PSB_START, PSB_PAD_UP, PSB_PAD_RIGHT, PSB_PAD_DOWN, PSB_PAD_LEFT, PSB_L2, PSB_R2, PSB_L1, PSB_R1 , PSB_GREEN, PSB_RED, PSB_BLUE, PSB_PINK ] #按键值与按键说明 class PS2KEY: def __init__(self,DAT,CMD,CS,CLK): self.DAT = Pin(DAT, Pin.IN, Pin.PULL_DOWN) self.CMD = Pin(CMD, Pin.OUT) self.CS = Pin(CS,Pin.OUT) self.CLK = Pin(CLK,Pin.OUT) self.ps2_init() #手柄初始化 def ps2_init(self): self.CS.high() self.CMD.high() self.CLK.high() time.sleep(0.01) #发送数据 def ps2_cmd(self,cmd): global data data[1]=0 for ref in (1,2,4,8,16,32,64,128): if (ref & cmd): self.CMD.high() else: self.CMD.low() self.CLK.high() time.sleep(0.00005) self.CLK.low() time.sleep(0.00005) self.CLK.high() if self.DAT.value() == 1: data[1]=ref|data[1] time.sleep(0.000016) #判断是否为红灯模式 是--返回0 否--返回1 def ps2_red(self): global data global comd self.CS.low() self.ps2_cmd(comd[0]) self.ps2_cmd(comd[1]) self.CS.high() if(data[1]==57): return 0#red light else: return 1#not red #读取手柄数据 def ps2_read(self): global data global comd byte=0 ref=0x01 self.CS.low() self.ps2_cmd(comd[0]) self.ps2_cmd(comd[1]) for byte in (2,3,4,5,6,7,8): for ref in (1,2,4,8,16,32,64,128): self.CLK.high() self.CLK.low() time.sleep(0.00005) self.CLK.high() if self.DAT.value() == 1: data[byte]=ref|data[byte] time.sleep(0.00005) self.CS.high() #清空data def ps2_clear(self):#ok global data for i in range(9): data[i]=0 #输出摇杆数据（0-255） def ps2_andata(self,button): global data return data[button] #输出按下的按键对应编号 def ps2_key(self): global data global mask self.ps2_clear() self.ps2_read() handkey=(data[4]<<8)|data[3] for index in range(16): if ((handkey&(1<<(mask[index]-1)))==0): return index+1 return 0