PS3USBmoddd.ino

#include <PS3USB.h>
#include<Servo.h>
// Satisfy the IDE, which needs to see the include statment in the ino too.
#ifdef dobogusinclude
#include <spi4teensy3.h>
#endif
#include <SPI.h>


int pos = 0;
int pos1=0;

USB Usb;
Servo myservo;
Servo myservo2;
/* You can create the instance of the class in two ways */
PS3USB PS3(&Usb); // This will just create the instance
//PS3USB PS3(&Usb,0x00,0x15,0x83,0x3D,0x0A,0x57); // This will also store the bluetooth address - this can be obtained from the dongle when running the sketch

bool printAngle;
uint8_t state = 0;

void setup() {
  Serial.begin(115200);
  
#if !defined(__MIPSEL__)
  while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
#endif
  if (Usb.Init() == -1) {
    Serial.print(F("\r\nOSC did not start"));
    while (1); //halt
  }
  Serial.print(F("\r\nPS3 USB Library Started"));
  myservo.attach(9);
  myservo2.attach(10);
}
void loop() {
  Usb.Task();

  if (PS3.PS3Connected || PS3.PS3NavigationConnected) {
    if (PS3.getAnalogHat(LeftHatX) > 137 || PS3.getAnalogHat(LeftHatX) < 117 || PS3.getAnalogHat(LeftHatY) > 137 || PS3.getAnalogHat(LeftHatY) < 117 || PS3.getAnalogHat(RightHatX) > 137 || PS3.getAnalogHat(RightHatX) < 117 || PS3.getAnalogHat(RightHatY) > 137 || PS3.getAnalogHat(RightHatY) < 117) {
      Serial.print(F("\r\nLeftHatX: "));
      Serial.print(PS3.getAnalogHat(LeftHatX));
      Serial.print(F("\tLeftHatY: "));
      Serial.print(PS3.getAnalogHat(LeftHatY));
      if (PS3.PS3Connected) { // The Navigation controller only have one joystick
        Serial.print(F("\tRightHatX: "));
        Serial.print(PS3.getAnalogHat(RightHatX));
        Serial.print(F("\tRightHatY: "));
        Serial.print(PS3.getAnalogHat(RightHatY));
      }
    }

//     if (PS3.getAnalogHat( PS3.getAnalogHat(LeftHatY) < 157 && PS3.getAnalogHat(LeftHatY) < 97){
//
//            leftArm.write(map(PS3.getAnalogHat(LeftHatX), 0, 255, 0, 180));
//     }
//
//     if (PS3.getAnalogHat( PS3.getAnalogHat(RightHatY) < 157 && PS3.getAnalogHat(RightHatY) < 97){
//
//            rightArm.write(map(PS3.getAnalogHat(HatX), 0, 255, 0, 180));
//     }
//          
    // Analog button values can be read from almost all buttons
    if (PS3.getAnalogButton(L2) || PS3.getAnalogButton(R2)) {
      Serial.print(F("\r\nL2: "));
      Serial.print(PS3.getAnalogButton(L2));
      if (!PS3.PS3NavigationConnected) {
        Serial.print(F("\tR2: "));
        Serial.print(PS3.getAnalogButton(R2));
      }
    }
    if (PS3.getButtonClick(PS))
      Serial.print(F("\r\nPS"));

//   For controlling gripper arm 
      
    if (PS3.getButtonClick(CIRCLE)){
        Serial.print(F("\r\nCircle"));
           
         for (pos = 0; pos <= 180; pos += 5) { 
                  myservo.write(pos);              
                  delay(5);                       
                } 
    }
     
    if (PS3.getButtonClick(SQUARE)){
        Serial.print(F("\r\nSquare"));
     
                for (pos1 = 180; pos1 >= 0; pos1 -= 5) { 
          myservo.write(pos1);            
          delay(5);                    
         } 
    }

//For testing purposes

     if (PS3.getButtonClick(TRIANGLE)){
      Serial.print(F("\r\nTraingle"));
//            for (pos = 0; pos <= 180; pos += 5) { 
//                  myservo2.write(pos);              
//                  delay(15);                       
//                }   
myservo2.write(180);
   }
      
    if (PS3.getButtonClick(CROSS)){
        Serial.print(F("\r\nCross"));
      for (pos = 180; pos >= 0; pos -= 5) { 
          myservo2.write(pos);            
          delay(15);                    
         }  
    }
   
      

    if (PS3.getButtonClick(UP)) {
      Serial.print(F("\r\nUp"));
      PS3.setLedOff();
      PS3.setLedOn(LED4);
    }
    if (PS3.getButtonClick(RIGHT)) {
      Serial.print(F("\r\nRight"));
      PS3.setLedOff();
      PS3.setLedOn(LED1);
    }
    if (PS3.getButtonClick(DOWN)) {
      Serial.print(F("\r\nDown"));
      PS3.setLedOff();
      PS3.setLedOn(LED2);
    }
    if (PS3.getButtonClick(LEFT)) {
      Serial.print(F("\r\nLeft"));
      PS3.setLedOff();
      PS3.setLedOn(LED3);
    }

    if (PS3.getButtonClick(L1))
      Serial.print(F("\r\nL1"));
    if (PS3.getButtonClick(L3))
      Serial.print(F("\r\nL3"));
    if (PS3.getButtonClick(R1))
      Serial.print(F("\r\nR1"));
    if (PS3.getButtonClick(R3))
      Serial.print(F("\r\nR3"));

    if (PS3.getButtonClick(SELECT)) {
      Serial.print(F("\r\nSelect - "));
      PS3.printStatusString();
    }
    if (PS3.getButtonClick(START)) {
      Serial.print(F("\r\nStart"));
      printAngle = !printAngle;
    }
    if (printAngle) {
      Serial.print(F("\r\nPitch: "));
      Serial.print(PS3.getAngle(Pitch));
      Serial.print(F("\tRoll: "));
      Serial.print(PS3.getAngle(Roll));
    }
  }
  else if (PS3.PS3MoveConnected) { // One can only set the color of the bulb, set the rumble, set and get the bluetooth address and calibrate the magnetometer via USB
    if (state == 0) {
      PS3.moveSetRumble(0);
      PS3.moveSetBulb(Off);
    } else if (state == 1) {
      PS3.moveSetRumble(75);
      PS3.moveSetBulb(Red);
    } else if (state == 2) {
      PS3.moveSetRumble(125);
      PS3.moveSetBulb(Green);
    } else if (state == 3) {
      PS3.moveSetRumble(150);
      PS3.moveSetBulb(Blue);
    } else if (state == 4) {
      PS3.moveSetRumble(175);
      PS3.moveSetBulb(Yellow);
    } else if (state == 5) {
      PS3.moveSetRumble(200);
      PS3.moveSetBulb(Lightblue);
    } else if (state == 6) {
      PS3.moveSetRumble(225);
      PS3.moveSetBulb(Purple);
    } else if (state == 7) {
      PS3.moveSetRumble(250);
      PS3.moveSetBulb(White);
    }

    state++;
    if (state > 7)
      state = 0;
    delay(1000);
  }
}