For Mini Atom Bot Board/BotBoard II.
For BASIC Atom 28/BASIC Atom Pro 28.
BASIC Atom IDE v2.2.1.1/5.3.1.0
BASIC Atom Pro IDE v8.0.1.3+
04/17/2008
By James Frye.
Establishing a fast and reliable connection between a PS2 style controller and a Basic Atom 28 or BASIC Atom Pro 28 processor with a Mini Atom Bot Board or Bot Board II. (The Basic Stamp 2 processor cannot properly read the left vertical joystick.)
Too cool!
Figure 1-1.
Figure 1-2.
Step 2. Copy & paste the program from the bottom of the page into the editor. There are two sections that need to be tailored to your setup. At the top of the program, in the "Bot Board Selection" section, you select either Mini-Atom Bot Board, or the Bot Board II. Remove the semicolons in front of the four lines that match your board, and add semicolons in front of the four lines that do NOT match your board. At the bottom of the program, in the "Basic Micro IDE Terminal" section you select the IDE you are using. You will need to do this twice - once under "sending carriage return", and once under "sending all the data". Remove the semicolons from the 1 line in both places to match your IDE, and add semicolons in front of the lines that do NOT match your IDE.
The program uses the Bot Board II, Basic Atom 28 and the 5.3.0.0 editor as the default. If this is your setup, no changes need to be made.
Once all changes are made, program the Atom. After the program is running, click on the Terminal1 tab (item #28 in Figures 2-1 and 2-2 below). Change the Baud Rate to 57.6kbs (item #1). Then click Connect (item #6). If all is well, you should see numbers similar to the ones shown. Note that the program automatically puts the controller in Analog mode. Refer to Table 2-1 for a description of the bytes returned by the PS2 controller. Note that items 8 and 9 are the Digital representation of button presses. Refer to Table 2-2 for a Bit representation of button presses.
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Figure 2-1: IDE v2.2.1.1. |
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Figure 2-1: IDE v5.3.1.0 and v8.0.1.3. |
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Table 2-1 |
on the D-Pad (000
- 255; 255 = full on)
button (000 - 255;
255 = full on)
button (000 -
255; 255 = full on)
(239); Start (247); R3 (251); L3 (253); Select (254).The arrow buttons are on what is commonly called the "D-Pad," which is the button pad on the left. L3 and R3 are the little-known Left and Right joystick buttons; trigger these by pressing down on the joysticks. R1, R2, L1, and L2 are the "shoulder buttons," that is, they are located on the controller's "shoulders."
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| Table 2-3 | ||||||||||||||||||||||||||||||||
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Table 2-4 |
Step 3. Code by Laurent Gay. As a demonstration of the internal vibrating motors, the
following program turns on the motors with button presses. For example, the smaller motor is turned on by the 
D-pad button, and is either on or off. The larger motor is turned on by the 
D-pad button, and is
variable speed proportional to the pressure applied to the button. Note that the green wire on the PS2 controller cable needs to have 7.2 vdc
applied for this to work with Sony-brand controllers. It's not required for the Lynxmotion one.
| ;-----------Bot Board Selection---------- ;PS2 Controller / BotBoard I ;DAT con P4 ;CMD con P5 ;SEL con P6 ;CLK con P7 ;PS2 Controller / BotBoard II DAT con P12 CMD con P13 SEL con P14 CLK con P15 ;----------------------------- index var byte temp var byte(19) mode var byte Small_Motor var byte Large_Motor var byte ;PS2Init high CLK low SEL shiftout CMD,CLK,FASTLSBPRE,[$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER high SEL pause 1 low SEL shiftout CMD,CLK,FASTLSBPRE,[$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK high SEL pause 100 low SEL shiftout CMD,CLK,FASTLSBPRE,[$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE high SEL pause 1 low SEL shiftout CMD,CLK,FASTLSBPRE,[$01\8,$4D\8,$00\8,$00\8,$01\8,$FF\8,$FF\8,$FF\8,$FF\8] ;VIBRATION_ENABLE high SEL pause 1 low SEL shiftout CMD,CLK,FASTLSBPRE,[$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE high SEL pause 1 low SEL shiftout CMD,CLK,FASTLSBPRE,[$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT high SEL pause 1 main ;-----------PS2 Mode---------- low SEL ; asking "mode" to PS2 controller shiftout CMD,CLK,FASTLSBPRE,[$1\8] ; reading "mode" from PS2 controller ; 73(hex) is dualshock1 (digital buttons) ; 79(hex) is dualshock2 (analog buttons) shiftin DAT,CLK,FASTLSBPOST,[mode\8] high SEL ;----------------------------- pause 1 ;-----------PS2 Data---------- low SEL ; asking data to PS2 controller shiftout CMD,CLK,FASTLSBPRE,[$1\8,$42\8] ; reading data from controller ; (don't use a "for-next" loop, it's too slow to read PS2 data) shiftin DAT,CLK,FASTLSBPOST,[temp(0)\8,temp(1)\8,temp(2)\8,temp(3)\8,temp(4)\8,temp(5)\8,temp(6)\8,temp(7)\8,temp(8)\8, | temp(9)\8,temp(10)\8,temp(11)\8,temp(12)\8,temp(13)\8,temp(14)\8,temp(15)\8,temp(16)\8,temp(17)\8,temp(18)\8] high SEL ;----------------------------- pause 1 ;-----------PS2 Vibration motors---------- Small_Motor = 1 - Temp(1).bit5 ; Numeric right arrow button (Small Motor on/off) Large_Motor = Temp(8) ; Analog left arrow button (Large Motor speed) low SEL ; asking data to PS2 controller (again) ; sending at the same time the vibration motors speed to perform ; (using the previously read analog buttons position ( <- : large motor, -> : small motor ) ; the more you press on these buttons, the more the corresponding motor vibrates fast ; some wireless PS2 controllers react only to the large motor command and some have no motor at all. shiftout CMD,CLK,FASTLSBPRE,[$1\8,$42\8,$0\8,Small_Motor\8,Large_Motor\8] ; we don't care about reading the data from the controller here. ; so, why not use this to read PS2 data the first time? because it's not working: ; as the PS2 controller is starting to send data just after receiving the ; "shiftout CMD,CLK,FASTLSBPRE,[$1\8,$42\8..."<------here ; and as we are sending after that some data for motors "... ,$0\8,temp(7)\8,temp(8)\8]" ; it's now too late to read all the data from the PS2 controller ; because there's already some bytes sent by it and lost (no buffer here). high SEL ;----------------------------- ;-----------Basic Micro IDE terminal---------- ; sending carriage return (CR = 13) and the PS2 mode(hex) to the PC ;serout S_OUT,i57600,[13, hex2 mode\2] ; Basic Micro IDE <= 02.2.1.1 serout S_OUT,I8N1_57600,[13, hex2 mode\2] ; Basic Micro IDE <= 05.3.0.0 ;serout S_OUT,i57600,[13, hex2 mode\2] ; Basic Micro Pro IDE <= 08.0.1.7 for index = 1 to 18 ; temp(0) contains a dummy variable so we don't send it to the PC ; sending all the data to the PC ;serout S_OUT,i57600,[" ", dec3 temp(index)\3] ; Basic Micro IDE <= 02.2.1.1 serout S_OUT,I8N1_57600,[" ", dec3 temp(index)\3] ; Basic Micro IDE <= 05.3.0.0 ;serout S_OUT,i57600,[" ", dec3 temp(index)\3] ; Basic Micro Pro IDE <= 08.0.1.7 next ;----------------------------- goto main |