![\"\"](\"https:\/\/espacerm.com\/webgen\/wp-content\/uploads\/2019\/06\/IMG_5975a-1024x768.jpg\")
<\/figure>\n\n\n\nD\u00e9mo vid\u00e9o<\/a><\/p>\n\n\n\n Cette voiturette est pilot\u00e9e par un ESP32. Une communication ma\u00eetre-esclave est \u00e9tablie automatiquement entre le ESP32 et un Arduino UNO surmont\u00e9 d’un USB Host Shield 2.0. Le HC05 reli\u00e9 sur le ESP32 est configur\u00e9 en mode esclave [AT+ROLE = 0 ]. Le HC-05 reli\u00e9 sur l’Arduino est configur\u00e9 en mode ma\u00eetre [AT+ROLE = 1 ]. Le HC-05 ma\u00eetre est param\u00e9tr\u00e9 pour se connecter directement \u00e0 l’adresse Bluetooth du circuit esclave [ AT+CMODE( set address pairing)].<\/p>\n\n\n\n USB Host Shield Compatible For Google Android ADK Support U NO MEGA Module<\/a><\/p>\n\n\n\n USB Bluetooth V4.0.3. Mini adaptateur Dongle sans fil<\/a><\/p>\n\n\n\n 350W 24V 2750 RPM ZY1016 Electric Motor E-bike Brushed Scooter Electric Motor<\/a><\/p>\n\n\n\n Geekcreit\u00ae ESP32 Development Board WiFi+bluetooth Ultra Low Power Consumption Dual Cores ESP-32 ESP-32S Board<\/a><\/p>\n\n\n\n Double BTS7960B DC 43A Stepper Motor Driver H-Bridge PWM For Arduino Smart Car<\/a><\/strong><\/p>\n\n\n\n 25H 78 TEETH CHAIN SPROCKET FITS 47 49cc BIKE ATV QUAD DIRT MINI POCKET ROCKET<\/a><\/strong><\/p>\n\n\n\n HC-05 Wireless Bluetooth RF Transceiver Module serial RS232 TTL for arduino<\/a><\/strong><\/p>\n\n\n\n Geekcreit\u00ae UNO R3 ATmega328P Development Board For Arduino No Cable<\/a> <\/p>\n\n\n\n True Temper Chariot en plastique 4 pi cube<\/a><\/p>\n\n\n\n Plaquette de montage pour le ESP32 DEVKIT V1 DOIT ici <\/a><\/p>\n\n\n\n Le programme est divis\u00e9 en deux fichiers. Ils doivent \u00eatre plac\u00e9s dans le m\u00eame r\u00e9pertoire nomm\u00e9 \u00abesp32_TX02-RX02_RecV_CMD_PS4_BTS7960_09<\/strong>\u00bb <\/p>\n\n\n\n esp32_TX02-RX02_RecV_CMD_PS4_BTS7960_09.ino<\/strong><\/p>\n\n\n\n configuration.h<\/strong><\/p>\n\n\n\n Le programme est compos\u00e9 d’un fichier. Il doit \u00eatre plac\u00e9 dans le r\u00e9pertoire nomm\u00e9 \u00abManette_PS4_CTRL_CAR_BT-HC05_MASTER_14<\/strong>\u00bb <\/p>\n\n\n\n Manette_PS4_CTRL_CAR_BT-HC05_MASTER_14.ino<\/strong><\/p>\n\n\n\n Arduino et la manette PS4<\/a><\/strong><\/p>\n\n\n\n Bluetooth et le circuit HC-05<\/a><\/strong><\/p>\n\n\n\n![\"\"](\"https:\/\/espacerm.com\/webgen\/wp-content\/uploads\/2019\/06\/Circuit_ESP32-Bluetooth-HC05-CTRL-motor-BTS7960_01_bb-1024x759.png\")
<\/a>
<\/p>\n\n\n\n![\"\"](\"https:\/\/espacerm.com\/webgen\/wp-content\/uploads\/2019\/06\/IMG_5981b-1024x669.jpg\")
\n\n\n\nComposants et fournitures<\/h3>\n\n\n\n
\n\n\n\nLe montage de tests<\/h2>\n\n\n\n
![\"\"](\"https:\/\/espacerm.com\/webgen\/wp-content\/uploads\/2019\/06\/IMG_5918_mod2-1024x698.jpg\")
<\/figure>\n\n\n\n![\"\"](\"https:\/\/espacerm.com\/webgen\/wp-content\/uploads\/2019\/06\/IMG_5915_mod2-1024x743.jpg\")
<\/figure>\n\n\n\n![\"\"](\"https:\/\/espacerm.com\/webgen\/wp-content\/uploads\/2019\/06\/IMG_5909_mod2-1024x873.jpg\")
<\/figure>\n\n\n\n![\"\"](\"https:\/\/espacerm.com\/webgen\/wp-content\/uploads\/2019\/06\/IMG_6011b-1024x549.jpg\")
<\/figure>\n\n\n\n
\n\n\n\nLe programme du v\u00e9hicule<\/strong><\/h3>\n\n\n\n
\/*\n * \n * Cr\u00e9ation : 2018-03-22\n * Auteur : Richard Morel \n * \n * \n * Modifications\n * 2019-06-20\n * - Lors des virages le moteur \u00e0 l'int\u00e9rieur du virage est non aliment\u00e9\n * \n * 2019-06-21\n * - Lors des virages les moteurs tournent dans le sens oppos\u00e9 l'un de l'autre\n * \n * 2019-06-22 \n * - Le mode de fonctionnement de la roue int\u00e9rieur lors d'un virage est optionnelle\n * Un clic de la touche Cercle vitesse = 0\n * Un clic de la touche Carr\u00e9 vitesse = 100\n * \n * * ADRESSE BLUETOOTH VOITURETTE : 211345651\n * * HC05 51\n * \n * *** There are three serial ports on the ESP known as U0UXD, U1UXD and U2UXD.\n * \n * U0UXD is used to communicate with the ESP32 for programming and during reset\/boot.\n * U1UXD is unused and can be used for your projects. Some boards use this port for SPI Flash access though\n * U2UXD is unused and can be used for your projects.\n * \n*\/\n\n\n#include \"configuration.h\"\n\n#define RXD2 16\n#define TXD2 17\n\n \n\/\/HardwareSerial Serial2(2);\n\n\n\/\/************************************************************************\n\/\/\n\/\/ FONCTION FONCTION FONCTION FONCTION FONCTION FONCTION FONCTION FONCTION\n\/\/\n\/\/************************************************************************\n\n\/\/ ledcAttachPin(FwrdSpeedMotRight, pwmChannel_0);\n\/\/ ledcAttachPin(RvrsSpeedMotRight, pwmChannel_1); \n\/\/ ledcAttachPin(FwrdSpeedMotLeft, pwmChannel_2);\n\/\/ ledcAttachPin(RvrsSpeedMotLeft, pwmChannel_3);\n\n\/*motor control*\/\nvoid go_Advance(void) \/\/Forward\n{\n \/\/ Pour faire avancer le v\u00e9hicule le moteur de gauche\n \/\/ doit tourner dans le sens anti-horaire\n \/\/ Pour simplifier la programmation, le moteur est relier \n \/\/ en polarit\u00e9 inverse sur le contr\u00f4leur BTS7960\n \n digitalWrite(FwrdEnMotRight, HIGH); \n digitalWrite(RvrsEnMotRight, HIGH); \n digitalWrite(FwrdEnMotLeft, HIGH);\n digitalWrite(RvrsEnMotLeft, HIGH); \n ledcWrite(pwmChannel_0, vitesse); \/\/ FwrdSpeedMotRight\n ledcWrite(pwmChannel_2, vitesse); \/\/ FwrdSpeedMotLeft \n ledcWrite(pwmChannel_1, 000); \/\/ RvrsSpeedMotRight \n ledcWrite(pwmChannel_3, 000); \/\/ RvrsSpeedMotLeft\n}\n\nvoid go_Right(void) \/\/Turn right\n{\n digitalWrite(FwrdEnMotRight, HIGH);\n digitalWrite(RvrsEnMotRight, HIGH);\n digitalWrite(FwrdEnMotLeft, HIGH);\n digitalWrite(RvrsEnMotLeft, HIGH); \n ledcWrite(pwmChannel_0, 000); \/\/ FwrdSpeedMotRight\n ledcWrite(pwmChannel_2, 255); \/\/ FwrdSpeedMotLeft\n ledcWrite(pwmChannel_1, vitesseRInt); \/\/ RvrsSpeedMotRight\n ledcWrite(pwmChannel_3, 000); \/\/ RvrsSpeedMotLeft\n}\n\nvoid go_Left(void) \/\/Turn left\n{\n digitalWrite(FwrdEnMotRight, HIGH);\n digitalWrite(RvrsEnMotRight, HIGH); \n digitalWrite(FwrdEnMotLeft, HIGH);\n digitalWrite(RvrsEnMotLeft, HIGH); \n ledcWrite(pwmChannel_0, 255); \/\/ FwrdSpeedMotRight\n ledcWrite(pwmChannel_2, 000); \/\/ FwrdSpeedMotLeft\n ledcWrite(pwmChannel_1, 000); \/\/ RvrsSpeedMotRight\n ledcWrite(pwmChannel_3, vitesseRInt); \/\/ RvrsSpeedMotLeft\n}\n\nvoid go_Back(void) \/\/Reverse\n{\n digitalWrite(FwrdEnMotRight, HIGH);\n digitalWrite(RvrsEnMotRight, HIGH);\n digitalWrite(FwrdEnMotLeft, HIGH);\n digitalWrite(RvrsEnMotLeft, HIGH); \n ledcWrite(pwmChannel_0, 000); \/\/ FwrdSpeedMotRight\n ledcWrite(pwmChannel_2, 000); \/\/ FwrdSpeedMotLeft\n ledcWrite(pwmChannel_1, vitesse); \/\/ RvrsSpeedMotRight\n ledcWrite(pwmChannel_3, vitesse); \/\/ RvrsSpeedMotLeft\n}\nvoid stop_Stop() \/\/Stop\n{\n digitalWrite(FwrdEnMotRight, LOW);\n digitalWrite(RvrsEnMotRight, LOW);\n digitalWrite(FwrdEnMotLeft, LOW);\n digitalWrite(RvrsEnMotLeft, LOW); \n}\n\n\n\nvoid augmente_Vitesse()\n{\n vitesse = vitesse + 10;\n if (vitesse > 255){ vitesse = 255;}\n Serial.print(\"Vitesse : \");\n Serial.println(vitesse);\n}\n\n\nvoid diminue_Vitesse()\n{\n vitesse = vitesse - 10;\n if (vitesse > 255){ vitesse = 0;}\n Serial.print(\"Vitesse : \");\n Serial.println(vitesse);\n}\n\n\n\/\/************************************************************************\n\/\/\n\/\/ SETUP SETUP SETUP SETUP SETUP SETUP SETUP SETUP SETUP\n\/\/\n\/\/************************************************************************\n\nvoid setup() {\n \/\/ Note the format for setting a serial port is as follows: Serial2.begin(baud-rate, protocol, RX pin, TX pin);\n Serial.begin(115200);\n Serial2.begin(115200, SERIAL_8N1, RXD2, TXD2);\n Serial.println(\"Serial Txd is on pin: \"+String(TX));\n Serial.println(\"Serial Rxd is on pin: \"+String(RX));\n\n pinMode(FwrdEnMotRight , OUTPUT); \n pinMode(FwrdSpeedMotRight, OUTPUT); \n pinMode(RvrsSpeedMotRight, OUTPUT); \n pinMode(RvrsEnMotRight, OUTPUT);\n\n pinMode(FwrdEnMotLeft , OUTPUT); \n pinMode(FwrdSpeedMotLeft, OUTPUT); \n pinMode(RvrsSpeedMotLeft, OUTPUT); \n pinMode(RvrsEnMotLeft , OUTPUT);\n\n\n\n stop_Stop();\n\n \/\/ configure LED PWM functionalitites\n ledcSetup(pwmChannel_0, freq, resolution);\n ledcSetup(pwmChannel_1, freq, resolution);\n ledcSetup(pwmChannel_2, freq, resolution);\n ledcSetup(pwmChannel_3, freq, resolution);\n \n \/\/ attach the channel to the GPIO to be controlled\n ledcAttachPin(FwrdSpeedMotRight, pwmChannel_0);\n ledcAttachPin(RvrsSpeedMotRight, pwmChannel_1); \n ledcAttachPin(FwrdSpeedMotLeft, pwmChannel_2);\n ledcAttachPin(RvrsSpeedMotLeft, pwmChannel_3);\n}\n\n\n\/\/************************************************************************\n\/\/\n\/\/ LOOP LOOP LOOP LOOP LOOP LOOP LOOP LOOP LOOP\n\/\/\n\/\/************************************************************************\n\n\nvoid loop() { \/\/Choose Serial1 or Serial2 as required\n\n\n if(Serial2.available()) {\n \/\/Serial.print(char(Serial2.read())); \n \n unsigned int dataLu = Serial2.read();\n \/\/Serial.print(dataLu);\n \/\/Serial.print(\" \");\n if ((dataLu) == 91){ \/\/ 91 = [\n \/\/****** D\u00e9but de trame *****\n i = 0;\n boTrameValide = true;\n }\n if (boTrameValide){\n CmdPS4[i]= dataLu;\n\n \/*\n if ((CmdPS4[22]) == 66){\n \/\/Serial.print(char(CmdPS4[i]));\n Serial.println(\"+++\");\n CmdPS4[4] = 0;\n }\n *\/\n Serial.print(char(CmdPS4[i])); \/\/ POUR SUIVRE LA TRAME RE\u00c7UE\n i++;\n if ((dataLu) == 93){ \/\/ = ]\n \/\/****** Fin de trame *****\n boTrameValide = false;\n Serial.println(\"\");\n \/\/Serial.println(i);\n i = 0;\n }\n }\n }\n\n actionRightHatY = CmdPS4[8];\n actionRightHatX = CmdPS4[10];\n actionLeftHatY = CmdPS4[12];\n actionLeftHatX = CmdPS4[14];\n actionBoutonR2 = CmdPS4[18]; \/\/ AnalogButton(R2)\n boutonTriangle = CmdPS4[20]; \/\/ boutonTriangle\n boutonCircle = CmdPS4[22]; \/\/ boutonCircle\n boutonCross = CmdPS4[24]; \/\/ boutonCross\n boutonSquare = CmdPS4[26]; \/\/ boutonSquare\n boutonUp = CmdPS4[28]; \/\/ boutonUp\n boutonRight = CmdPS4[30]; \/\/ boutonRight\n boutonDown = CmdPS4[32]; \/\/ boutonDown\n boutonLeft = CmdPS4[34]; \/\/ boutonLeft\n boutonL1 = CmdPS4[36]; \/\/ boutonL1\n boutonL3 = CmdPS4[38]; \/\/ boutonL3\n boutonR1 = CmdPS4[40]; \/\/ boutonR1\n boutonR3 = CmdPS4[42]; \/\/ boutonR3\n actionJsStop = CmdPS4[48]; \/\/ Joystick Right au centre\n \n \n\n \/\/Serial.println(char(CmdPS4[48]));\n\n \/\/ vitesse = 127;\n vitesseL = vitesse;\n vitesseR = vitesse;\n \n if (actionRightHatY == 65) { \/\/ A ---> Avance\n \/\/Serial.println(\"Avance\");\n go_Advance();\n }\n\n \n if (actionRightHatY == 66) { \/\/ B ---> Recule\n Serial.println(\"Recule\");\n go_Back();\n }\n \n if (actionRightHatX == 82) { \/\/ R ---> Tourne \u00e0 DROITE\n Serial.println(\"Tourne \u00e0 DROITE\");\n go_Right();\n }\n\n \n if (actionRightHatX == 76) { \/\/ L ---> Tourne \u00e0 GAUCHE\n Serial.println(\"Tourne \u00e0 GAUCHE\");\n go_Left();\n }\n\n if (actionJsStop == 83) { \/\/ S ---> Stop\n \/\/Serial.println(\"JoyStick Stop\");\n stop_Stop();\n }\n \n if (boutonTriangle == 65) { \/\/ A ---> Augmente la vitesse\n \/\/Serial.println(\"Augmente la vitesse\");\n augmente_Vitesse();\n CmdPS4[20] = 0;\n }\n\n if (boutonCross == 66) { \/\/ B ---> Diminue la vitesse\n \/\/Serial.println(\"Diminue la vitesse\");\n diminue_Vitesse();\n CmdPS4[24] = 0;\n }\n \n if (boutonCircle == 82) { \/\/ R ---> vitesse roue\n vitesseRInt = 0; \/\/ \u00e0 l'int\u00e9rieur du virage = 0\n }\n \n if (boutonSquare == 76) { \/\/ L ---> vitesse roue\n vitesseRInt = 100; \/\/ \u00e0 l'int\u00e9rieur du virage = 100\n }\n if (boutonDown == 83) { \/\/ S ---> Stop\n Serial.println(\"STOP\"); \n stop_Stop();\n }\n}<\/pre>\n\n\n\n\/*Declare L298N Dual H-Bridge Motor Controller directly since there is not a library to load.\n BRANCHEMENT POUR ESP32\n*\/\n\/\/Define BTS7960 (IBT-2) H-Bridge Motor Controller Pins\n\n#define FwrdEnMotRight 33 \/\/ (BLEU) - R_EN - FORWARD enable motor Right\n#define FwrdSpeedMotRight 25 \/\/ (JAUNE)- RPWM - FORWARD speed motor Right\n#define RvrsSpeedMotRight 26 \/\/ (VERT) - LPWM - REVERSE speed motor Right\n#define RvrsEnMotRight 27 \/\/ (GRIS) - L_EN - REVERSE enable motor Right\n\n#define FwrdEnMotLeft 12 \/\/ (BLEU) - R_EN - FORWARD enable motor Left\n#define FwrdSpeedMotLeft 13 \/\/ (JAUNE)- RPWM - FORWARD speed motor Left\n#define RvrsSpeedMotLeft 15 \/\/ (VERT) - LPWM - REVERSE speed motor Left\n#define RvrsEnMotLeft 00 \/\/ (GRIS) - L_EN - REVERSE enable motor Left\n\n\/\/ Setting PWM properties\nconst int freq = 500;\nconst int pwmChannel_0 = 0;\nconst int pwmChannel_1 = 1;\nconst int pwmChannel_2 = 2;\nconst int pwmChannel_3 = 3;\nconst int resolution = 8; \/\/(8 bits -> 0-255)\n\nunsigned int vitesse = 255;\nunsigned int vitesseL = 0;\nunsigned int vitesseR = 0;\nunsigned int vitesseRInt = 0;\n\nunsigned int actionRightHatY = 0; \nunsigned int actionRightHatX = 0;\nunsigned int actionLeftHatY = 0; \nunsigned int actionLeftHatX = 0;\n\nunsigned int leftHatX = 0;\nunsigned int leftHatY = 0; \nunsigned int rightHatX = 0;\nunsigned int rightHatY = 0;\nunsigned int actionBoutonR2 = 0;\n\nunsigned int boutonTriangle = 0;\nunsigned int boutonCircle = 0;\nunsigned int boutonCross = 0;\nunsigned int boutonSquare = 0;\nunsigned int boutonUp = 0;\nunsigned int boutonRight = 0;\nunsigned int boutonDown = 0;\nunsigned int boutonLeft = 0;\nunsigned int boutonL1 = 0;\nunsigned int boutonL3 = 0;\nunsigned int boutonR1 = 0;\nunsigned int boutonR3 = 0;\nunsigned int boutonShare = 0;\nunsigned int boutonOptions = 0;\n\nunsigned int actionJsStop = 0;\n\nint i = 0;\nunsigned char CmdPS4[60] = \"\";\nbool boTrameValide = false;<\/pre>\n\n\n\n
\n\n\n\nLe programme de la manette<\/h2>\n\n\n\n
\/*\n * Contr\u00f4leur associ\u00e9 avec une manette PS4\n * PS4 + USB Host shield 2 + Bluetooth HC-05 MAITRE \n * \n * 2019-06-02 \n * Cr\u00e9ation: Richard Morel\n * \n * Modifications:\n * \n * 2019-06-03\n * Transmission seulement sur changement d'\u00e9tat d'un bouton\n * \n * \n * \n * La carte USB Host shield 2 re\u00e7oit les commandes de la manette PS4 \n * et les retransmets en Bluetooth par le circuit HC-05. \n * Ce circuit est configur\u00e9 en mode Maitre et l'adresse de la carte\n * HC-05 Esclave est programm\u00e9e dans la carte Maitre.\n * La communication Maitre-Esclave s'\u00e9tablie instantan\u00e9ment\n * \n * Adapt\u00e9 de : \n * Example sketch for the PS4 Bluetooth library - developed by Kristian Lauszus\n * For more information visit my blog: http:\/\/blog.tkjelectronics.dk\/ or\n * send me an e-mail: kristianl@tkjelectronics.com\n *\/\n\n#include <PS4BT.h>\n#include <usbhub.h>\n\n\/\/ Satisfy the IDE, which needs to see the include statment in the ino too.\n#ifdef dobogusinclude\n#include <spi4teensy3.h>\n#endif\n#include <SPI.h>\n\nbool boCmdTransmit = false;\n\nint boutonTriangle = 0;\nint boutonCircle = 0;\nint boutonCross = 0;\nint boutonSquare = 0;\nint boutonUp = 0;\nint boutonRight = 0;\nint boutonDown = 0;\nint boutonLeft = 0;\nint boutonL1 = 0;\nint boutonL3 = 0;\nint boutonR1 = 0;\nint boutonR3 = 0;\nint boutonShare = 0;\nint boutonOptions = 0;\n\nint actionRightHatY = 0; \nint actionRightHatX = 0;\nint oldRightHatY = 0; \nint oldRightHatX = 0;\n\nint actionLeftHatY = 0; \nint actionLeftHatX = 0;\nint oldLeftHatY = 0; \nint oldLeftHatX = 0;\n\nint actionBoutonL2 = 0; \nint actionBoutonR2 = 0;\nint oldBoutonL2 = 0; \nint oldBoutonR2 = 0;\n\nint actionJsStop = 0;\nint oldJsStop = 0;\n\nUSB Usb;\n\/\/USBHub Hub1(&Usb); \/\/ Some dongles have a hub inside\nBTD Btd(&Usb); \/\/ You have to create the Bluetooth Dongle instance like so\n\n\/* You can create the instance of the PS4BT class in two ways *\/\n\/\/ This will start an inquiry and then pair with the PS4 controller - you only have to do this once\n\/\/ You will need to hold down the PS and Share button at the same time, the PS4 controller will then start to blink rapidly indicating that it is in pairing mode\n\/\/ PS s'affiche lorsque le jumelage est compl\u00e9t\u00e9. Mettre (PS4BT PS4(&Btd, PAIR);) en commentaire\n\/\/ et enlever \/\/ \u00e0 (PS4BT PS4(&Btd);) puis retransfer le programme dans l'Arduino\n\/\/PS4BT PS4(&Btd, PAIR);\n\n\/\/ After that you can simply create the instance like so and then press the PS button on the device\nPS4BT PS4(&Btd);\n\nint state = 0;\nvoid setup() {\n Serial.begin(115200);\n#if !defined(__MIPSEL__)\n while (!Serial); \/\/ Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection\n#endif\n if (Usb.Init() == -1) {\n Serial.print(F(\"\\r\\nOSC did not start\"));\n while (1); \/\/ Halt\n }\n Serial.print(F(\"\\r\\nPS4 Bluetooth Library Started\"));\n}\nvoid loop() {\n\n if(Serial.available() > 0){ \/\/ Checks whether data is comming from the serial port\n state = Serial.read(); \/\/ Reads the data from the serial port\n }\n\n Usb.Task();\n if (PS4.connected()) {\n\n actionRightHatY = 0;\n actionRightHatX = 0;\n\n actionJsStop = 0;\n\n boutonTriangle = 0;\n boutonCircle = 0;\n boutonCross = 0;\n boutonSquare = 0;\n boutonUp = 0;\n boutonRight = 0;\n boutonDown = 0;\n boutonLeft = 0;\n boutonL1 = 0;\n boutonL3 = 0;\n boutonR1 = 0;\n boutonR3 = 0;\n boutonShare = 0;\n boutonOptions = 0;\n\n\n if (PS4.getAnalogHat(RightHatY) < 25) {\n actionRightHatY = 65; \/\/ A\n oldJsStop = 0;\n if (oldRightHatY != actionRightHatY){\n boCmdTransmit = true;\n oldRightHatY = actionRightHatY;\n } \n }\n \n if (PS4.getAnalogHat(RightHatY) > 200) {\n actionRightHatY = 66; \/\/ B\n if (oldRightHatY != actionRightHatY){\n boCmdTransmit = true;\n oldRightHatY = actionRightHatY;\n oldJsStop = 0;\n } \n }\n \n if (PS4.getAnalogHat(RightHatX) > 200) {\n actionRightHatX = 82; \/\/ R\n oldJsStop = 0;\n if (oldRightHatX != actionRightHatX){\n boCmdTransmit = true;\n oldRightHatX = actionRightHatX; \n } \n }\n\n if (PS4.getAnalogHat(RightHatX) < 25) {\n actionRightHatX = 76; \/\/ L\n oldJsStop = 0;\n if (oldRightHatX != actionRightHatX){\n boCmdTransmit = true;\n oldRightHatX = actionRightHatX; \n } \n }\n\n if (PS4.getAnalogHat(RightHatY) >= 25 && PS4.getAnalogHat(RightHatY) <= 200 && PS4.getAnalogHat(RightHatX) >= 25 && PS4.getAnalogHat(RightHatX) <= 200) {\n actionJsStop = 83; \/\/ S\n oldRightHatY = 0;\n oldRightHatX = 0; \n if (oldJsStop != actionJsStop){\n boCmdTransmit = true;\n oldJsStop = actionJsStop;\n } \n }\n \n if (PS4.getButtonClick(PS)) {\n Serial.print(F(\"\\r\\nPS Disconnect\"));\n PS4.disconnect();\n }\n else {\n if (PS4.getButtonClick(TRIANGLE)) {\n boutonTriangle = 65; \/\/ A\n boCmdTransmit = true;\n }\n if (PS4.getButtonClick(CIRCLE)) {\n boutonCircle = 82; \/\/ R\n boCmdTransmit = true;\n }\n if (PS4.getButtonClick(CROSS)) {\n boutonCross = 66; \/\/ B\n boCmdTransmit = true;\n }\n if (PS4.getButtonClick(SQUARE)) {\n boutonSquare = 76; \/\/ L\n boCmdTransmit = true;\n\n }\n \n if (PS4.getButtonClick(UP)) {\n boutonUp = 1;\n } \n if (PS4.getButtonClick(RIGHT)) {\n boutonRight = 1;\n } \n if (PS4.getButtonClick(DOWN)) {\n boutonDown = 83; \/\/ S\n boCmdTransmit = true;\n }\n if (PS4.getButtonClick(LEFT)) {\n boutonLeft = 1;\n }\n\n if (PS4.getButtonClick(L1))\n boutonL1 = 1;\n if (PS4.getButtonClick(L3))\n boutonL3 = 1;\n if (PS4.getButtonClick(R1))\n boutonR1 = 1;\n if (PS4.getButtonClick(R3))\n boutonR3 = 1;\n\n if (PS4.getButtonClick(SHARE))\n boutonShare = 1;\n if (PS4.getButtonClick(OPTIONS)) {\n boutonOptions = 1; \n }\n }\n \n \n\n if ( boCmdTransmit){ \n int inPauseDeTransmission = 1; \/\/ > 50 Temporisation pour \u00e9viter les engorgements \n Serial.write(\"[ |\"); delay(inPauseDeTransmission);\n Serial.write(\"DATA|\"); delay(inPauseDeTransmission);\n Serial.write(actionRightHatY); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(actionRightHatX); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(actionLeftHatY); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(actionLeftHatX); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(actionBoutonL2); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(actionBoutonR2); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonTriangle); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonCircle); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission); \n Serial.write(boutonCross); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonSquare); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonUp); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonRight); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonDown); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonLeft); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonL1); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonL3); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonR1); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonR3); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonShare); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(boutonOptions); delay(inPauseDeTransmission);\n Serial.write(\"|\"); delay(inPauseDeTransmission);\n Serial.write(actionJsStop); delay(inPauseDeTransmission); \n Serial.write(\"| ]\"); delay(inPauseDeTransmission);\n Serial.println(); \n boCmdTransmit = false; \n } \/\/ Fin du if ( boCmdTransmit){\n } \/\/ Fin du if (PS4.connected()) { \n} \/\/ Fin du Loop<\/pre>\n\n\n\nR\u00e9f\u00e9rences<\/h3>\n\n\n\n