Self-Propelled LASER Turret

1/* This code is for RC LASER tank / Self propelled LASER Turret
2 *   Refer to www.SurtrTech.com or SurtrTech YouTube channel for more details
3 */
4
5#include   <PS2X_lib.h>  //Libraries needed PS2 Receiver and Servo
6#include <Servo.h> 
7
8Servo   Servo1;        //Declaring cradle servos, Servo1 is the base
9Servo Servo2;
10
11PS2X   ps2x;          //Declaring the PS2X controller
12
13int error = 0;      //PS2X   stuff to detect errors and type of controller
14byte type = 0;
15byte vibrate   = 0;  //vibration of the controller
16
17int a,b;
18
19//Motor A Right motor   for my project
20int in1 = 2;
21int in2 = 4;
22int EnA = 3; //I'm controlling   the speed also
23
24//Motor B
25int in3 = 6;
26int in4 = 7;
27int EnB = 5;
28
29void   setup(){
30 
31 Serial.begin(9600);  //Serial monitor will help you to see values   and know if your controls are detected or not
32 error = ps2x.config_gamepad(13,11,8,12,   true, true);   //setup pins and settings:  GamePad(clock, command, attention, data,   Pressures?, Rumble?) check for error
33 type = ps2x.readType();
34 pinMode(in1,   OUTPUT);
35 pinMode(in2, OUTPUT);
36 pinMode(EnA, OUTPUT);
37 pinMode(in1, OUTPUT);
38   pinMode(in2, OUTPUT);
39 pinMode(EnB, OUTPUT); 
40 pinMode(A0,OUTPUT);                 //Those   lines concern the LASER, I ran out of pins and I put A0 as GND
41 pinMode(A1,OUTPUT);                  //And the A1 provides 5v if I press the X button
42 digitalWrite(A0,LOW);
43   Servo1.attach(9);
44 Servo2.attach(10);
45  
46}
47
48void loop(){
49   a=Servo1.read();   //Reading the previous servos positions is an important step so we can know where   they should position next
50   b=Servo2.read();
51  
52   ps2x.read_gamepad(false,   vibrate);          //read controller and set large motor to spin at 'vibrate' speed     
53   vibrate = ps2x.Analog(PSAB_BLUE);          //this will set the large   motor vibrate speed based on 
54   digitalWrite(A1,vibrate);                  //if   the vibrate takes a value > threshold it will set the A1 (LASER) to high
55   Stop();                                    //As long as no stick is pushed we stop, otherwise   move accordingly
56   
57   //Forward sequence
58   if(255-ps2x.Analog(PSS_LY)   > 130){         //This is how I detect that the stick is pushed up the value gotten   should be 130-255
59   Serial.println("Forward");                 //And the 255-...   before is just to arrange values because it was inverted
60   Forward();
61   }
62    
63   //Backward sequence
64   if(255-ps2x.Analog(PSS_LY) < 120){
65   Serial.println("Backward");   
66   Backward();
67   }
68   
69   //Right sequence
70   if(ps2x.Analog(PSS_LX)   > 130){           //X Axis wasn't inverted that's why you don't see the 255-...
71    Serial.println("Right");
72   Right();
73   }
74   
75   //Left sequence
76    if(ps2x.Analog(PSS_LX) < 120){
77   Serial.println("Left");
78   Left();
79    }
80
81   //Cradle Right
82   if(255-ps2x.Analog(PSS_RX) < 120){           //If   the stick is pointed to the right
83   Serial.println("C Right");                   //We   read the current servo position (a=Servo1.read())
84   Serial.println(ps2x.Analog(PSS_RX));          //And we decrement '1'
85   a=a-1;                                       //Then   we write the new position which is a-1 you can change the '1' to higher to make   it turn fast
86   Servo1.write(a);
87
88   //Cradle Left
89   }
90   if(255-ps2x.Analog(PSS_RX)   > 130){
91   Serial.println("C Left");
92   Serial.println(ps2x.Analog(PSS_RX));
93    a=a+1;
94   Servo1.write(a);   
95   }
96
97    //Cradle Up
98   if(255-ps2x.Analog(PSS_RY)   < 120){
99   Serial.println("C Up");
100   Serial.println(ps2x.Analog(PSS_RY));
101    b=b+1;
102   Servo2.write(b);
103
104   //Cradle Down
105   }
106   if(255-ps2x.Analog(PSS_RY)   > 130){
107   Serial.println("C Down");
108   Serial.println(ps2x.Analog(PSS_RY));
109    b=b-1;
110   Servo2.write(b);   
111   }
112   
113 delay(50);    
114}
115
116void   Forward(){
117  int  F1 = map(255-ps2x.Analog(PSS_LY), 130, 255, 0, 255);     //Changing   the signal received from 130-255 to 0-255 to be able to write that value as PWM   signal
118  digitalWrite(in1, LOW);                                       //To control   the speed
119  digitalWrite(in2, HIGH);
120  analogWrite(EnA,F1);
121  digitalWrite(in3,   HIGH);
122  digitalWrite(in4, LOW);
123  analogWrite(EnB,F1);
124  Serial.println(F1);
125   
126  
127}
128
129
130void Backward(){
131  int  F2 =  map(255-ps2x.Analog(PSS_LY),   120, 0, 0, 255);
132  digitalWrite(in1, HIGH);
133  digitalWrite(in2, LOW);
134   analogWrite(EnA,F2);
135  digitalWrite(in3, LOW);
136  digitalWrite(in4, HIGH);
137   analogWrite(EnB,F2);
138  Serial.println(F2);
139}
140
141
142void Right(){
143   int  F3 =  map(255-ps2x.Analog(PSS_LX), 120, 0, 0, 255);
144  digitalWrite(in1,   LOW);             //Turning sequence that suited me I stop on track and turn the   other
145  digitalWrite(in2, LOW);             //You can turn them on different   sides to make it turn fast
146  analogWrite(EnA,F3);
147  digitalWrite(in3, HIGH);
148   digitalWrite(in4, LOW);
149  analogWrite(EnB,F3);
150  Serial.println(F3);
151   
152}
153
154
155void Left(){
156  int  F4 =  map(255-ps2x.Analog(PSS_LX), 130,   255, 0, 255);
157  digitalWrite(in1, LOW);
158  digitalWrite(in2, HIGH);
159  analogWrite(EnA,F4);
160   digitalWrite(in3, LOW);
161  digitalWrite(in4, LOW);
162  analogWrite(EnB,0);
163   Serial.println(F4);
164  
165}
166
167void Stop(){
168  digitalWrite(in1, LOW);
169   digitalWrite(in2, LOW);
170  analogWrite(EnA,0);
171  digitalWrite(in3, LOW);
172   digitalWrite(in4, LOW);
173  analogWrite(EnB,0);
174  
175}
176

/* This code is for RC LASER tank / Self propelled LASER Turret
 *   Refer to www.SurtrTech.com or SurtrTech YouTube channel for more details
 */

#include   <PS2X_lib.h>  //Libraries needed PS2 Receiver and Servo
#include <Servo.h> 

Servo   Servo1;        //Declaring cradle servos, Servo1 is the base
Servo Servo2;

PS2X   ps2x;          //Declaring the PS2X controller

int error = 0;      //PS2X   stuff to detect errors and type of controller
byte type = 0;
byte vibrate   = 0;  //vibration of the controller

int a,b;

//Motor A Right motor   for my project
int in1 = 2;
int in2 = 4;
int EnA = 3; //I'm controlling   the speed also

//Motor B
int in3 = 6;
int in4 = 7;
int EnB = 5;

void   setup(){
 
 Serial.begin(9600);  //Serial monitor will help you to see values   and know if your controls are detected or not
 error = ps2x.config_gamepad(13,11,8,12,   true, true);   //setup pins and settings:  GamePad(clock, command, attention, data,   Pressures?, Rumble?) check for error
 type = ps2x.readType();
 pinMode(in1,   OUTPUT);
 pinMode(in2, OUTPUT);
 pinMode(EnA, OUTPUT);
 pinMode(in1, OUTPUT);
   pinMode(in2, OUTPUT);
 pinMode(EnB, OUTPUT); 
 pinMode(A0,OUTPUT);                 //Those   lines concern the LASER, I ran out of pins and I put A0 as GND
 pinMode(A1,OUTPUT);                  //And the A1 provides 5v if I press the X button
 digitalWrite(A0,LOW);
   Servo1.attach(9);
 Servo2.attach(10);
  
}

void loop(){
   a=Servo1.read();   //Reading the previous servos positions is an important step so we can know where   they should position next
   b=Servo2.read();
  
   ps2x.read_gamepad(false,   vibrate);          //read controller and set large motor to spin at 'vibrate' speed     
   vibrate = ps2x.Analog(PSAB_BLUE);          //this will set the large   motor vibrate speed based on 
   digitalWrite(A1,vibrate);                  //if   the vibrate takes a value > threshold it will set the A1 (LASER) to high
   Stop();                                    //As long as no stick is pushed we stop, otherwise   move accordingly
   
   //Forward sequence
   if(255-ps2x.Analog(PSS_LY)   > 130){         //This is how I detect that the stick is pushed up the value gotten   should be 130-255
   Serial.println("Forward");                 //And the 255-...   before is just to arrange values because it was inverted
   Forward();
   }
    
   //Backward sequence
   if(255-ps2x.Analog(PSS_LY) < 120){
   Serial.println("Backward");   
   Backward();
   }
   
   //Right sequence
   if(ps2x.Analog(PSS_LX)   > 130){           //X Axis wasn't inverted that's why you don't see the 255-...
    Serial.println("Right");
   Right();
   }
   
   //Left sequence
    if(ps2x.Analog(PSS_LX) < 120){
   Serial.println("Left");
   Left();
    }

   //Cradle Right
   if(255-ps2x.Analog(PSS_RX) < 120){           //If   the stick is pointed to the right
   Serial.println("C Right");                   //We   read the current servo position (a=Servo1.read())
   Serial.println(ps2x.Analog(PSS_RX));          //And we decrement '1'
   a=a-1;                                       //Then   we write the new position which is a-1 you can change the '1' to higher to make   it turn fast
   Servo1.write(a);

   //Cradle Left
   }
   if(255-ps2x.Analog(PSS_RX)   > 130){
   Serial.println("C Left");
   Serial.println(ps2x.Analog(PSS_RX));
    a=a+1;
   Servo1.write(a);   
   }

    //Cradle Up
   if(255-ps2x.Analog(PSS_RY)   < 120){
   Serial.println("C Up");
   Serial.println(ps2x.Analog(PSS_RY));
    b=b+1;
   Servo2.write(b);

   //Cradle Down
   }
   if(255-ps2x.Analog(PSS_RY)   > 130){
   Serial.println("C Down");
   Serial.println(ps2x.Analog(PSS_RY));
    b=b-1;
   Servo2.write(b);   
   }
   
 delay(50);    
}

void   Forward(){
  int  F1 = map(255-ps2x.Analog(PSS_LY), 130, 255, 0, 255);     //Changing   the signal received from 130-255 to 0-255 to be able to write that value as PWM   signal
  digitalWrite(in1, LOW);                                       //To control   the speed
  digitalWrite(in2, HIGH);
  analogWrite(EnA,F1);
  digitalWrite(in3,   HIGH);
  digitalWrite(in4, LOW);
  analogWrite(EnB,F1);
  Serial.println(F1);
   
  
}


void Backward(){
  int  F2 =  map(255-ps2x.Analog(PSS_LY),   120, 0, 0, 255);
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
   analogWrite(EnA,F2);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
   analogWrite(EnB,F2);
  Serial.println(F2);
}


void Right(){
   int  F3 =  map(255-ps2x.Analog(PSS_LX), 120, 0, 0, 255);
  digitalWrite(in1,   LOW);             //Turning sequence that suited me I stop on track and turn the   other
  digitalWrite(in2, LOW);             //You can turn them on different   sides to make it turn fast
  analogWrite(EnA,F3);
  digitalWrite(in3, HIGH);
   digitalWrite(in4, LOW);
  analogWrite(EnB,F3);
  Serial.println(F3);
   
}


void Left(){
  int  F4 =  map(255-ps2x.Analog(PSS_LX), 130,   255, 0, 255);
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(EnA,F4);
   digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(EnB,0);
   Serial.println(F4);
  
}

void Stop(){
  digitalWrite(in1, LOW);
   digitalWrite(in2, LOW);
  analogWrite(EnA,0);
  digitalWrite(in3, LOW);
   digitalWrite(in4, LOW);
  analogWrite(EnB,0);
  
}

RC_LASER_Tank.ino

arduino

Control all your systems

1/* This code is for RC LASER tank / Self propelled LASER Turret
2 *  Refer to www.SurtrTech.com or SurtrTech YouTube channel for more details
3 */
4
5#include  <PS2X_lib.h>  //Libraries needed PS2 Receiver and Servo
6#include <Servo.h> 
7
8Servo  Servo1;        //Declaring cradle servos, Servo1 is the base
9Servo Servo2;
10
11PS2X  ps2x;          //Declaring the PS2X controller
12
13int error = 0;      //PS2X  stuff to detect errors and type of controller
14byte type = 0;
15byte vibrate  = 0;  //vibration of the controller
16
17int a,b;
18
19//Motor A Right motor  for my project
20int in1 = 2;
21int in2 = 4;
22int EnA = 3; //I'm controlling  the speed also
23
24//Motor B
25int in3 = 6;
26int in4 = 7;
27int EnB = 5;
28
29void  setup(){
30 
31 Serial.begin(9600);  //Serial monitor will help you to see values  and know if your controls are detected or not
32 error = ps2x.config_gamepad(13,11,8,12,  true, true);   //setup pins and settings:  GamePad(clock, command, attention, data,  Pressures?, Rumble?) check for error
33 type = ps2x.readType();
34 pinMode(in1,  OUTPUT);
35 pinMode(in2, OUTPUT);
36 pinMode(EnA, OUTPUT);
37 pinMode(in1, OUTPUT);
38  pinMode(in2, OUTPUT);
39 pinMode(EnB, OUTPUT); 
40 pinMode(A0,OUTPUT);                 //Those  lines concern the LASER, I ran out of pins and I put A0 as GND
41 pinMode(A1,OUTPUT);                 //And the A1 provides 5v if I press the X button
42 digitalWrite(A0,LOW);
43  Servo1.attach(9);
44 Servo2.attach(10);
45  
46}
47
48void loop(){
49   a=Servo1.read();  //Reading the previous servos positions is an important step so we can know where  they should position next
50   b=Servo2.read();
51  
52   ps2x.read_gamepad(false,  vibrate);          //read controller and set large motor to spin at 'vibrate' speed    
53   vibrate = ps2x.Analog(PSAB_BLUE);          //this will set the large  motor vibrate speed based on 
54   digitalWrite(A1,vibrate);                  //if  the vibrate takes a value > threshold it will set the A1 (LASER) to high
55   Stop();                                   //As long as no stick is pushed we stop, otherwise  move accordingly
56   
57   //Forward sequence
58   if(255-ps2x.Analog(PSS_LY)  > 130){         //This is how I detect that the stick is pushed up the value gotten  should be 130-255
59   Serial.println("Forward");                 //And the 255-...  before is just to arrange values because it was inverted
60   Forward();
61   }
62   
63   //Backward sequence
64   if(255-ps2x.Analog(PSS_LY) < 120){
65   Serial.println("Backward");  
66   Backward();
67   }
68   
69   //Right sequence
70   if(ps2x.Analog(PSS_LX)  > 130){           //X Axis wasn't inverted that's why you don't see the 255-...
71   Serial.println("Right");
72   Right();
73   }
74   
75   //Left sequence
76   if(ps2x.Analog(PSS_LX) < 120){
77   Serial.println("Left");
78   Left();
79   }
80
81   //Cradle Right
82   if(255-ps2x.Analog(PSS_RX) < 120){           //If  the stick is pointed to the right
83   Serial.println("C Right");                   //We  read the current servo position (a=Servo1.read())
84   Serial.println(ps2x.Analog(PSS_RX));         //And we decrement '1'
85   a=a-1;                                       //Then  we write the new position which is a-1 you can change the '1' to higher to make  it turn fast
86   Servo1.write(a);
87
88   //Cradle Left
89   }
90   if(255-ps2x.Analog(PSS_RX)  > 130){
91   Serial.println("C Left");
92   Serial.println(ps2x.Analog(PSS_RX));
93   a=a+1;
94   Servo1.write(a);   
95   }
96
97    //Cradle Up
98   if(255-ps2x.Analog(PSS_RY)  < 120){
99   Serial.println("C Up");
100   Serial.println(ps2x.Analog(PSS_RY));
101   b=b+1;
102   Servo2.write(b);
103
104   //Cradle Down
105   }
106   if(255-ps2x.Analog(PSS_RY)  > 130){
107   Serial.println("C Down");
108   Serial.println(ps2x.Analog(PSS_RY));
109   b=b-1;
110   Servo2.write(b);   
111   }
112   
113 delay(50);    
114}
115
116void  Forward(){
117  int  F1 = map(255-ps2x.Analog(PSS_LY), 130, 255, 0, 255);     //Changing  the signal received from 130-255 to 0-255 to be able to write that value as PWM  signal
118  digitalWrite(in1, LOW);                                       //To control  the speed
119  digitalWrite(in2, HIGH);
120  analogWrite(EnA,F1);
121  digitalWrite(in3,  HIGH);
122  digitalWrite(in4, LOW);
123  analogWrite(EnB,F1);
124  Serial.println(F1);
125  
126  
127}
128
129
130void Backward(){
131  int  F2 =  map(255-ps2x.Analog(PSS_LY),  120, 0, 0, 255);
132  digitalWrite(in1, HIGH);
133  digitalWrite(in2, LOW);
134  analogWrite(EnA,F2);
135  digitalWrite(in3, LOW);
136  digitalWrite(in4, HIGH);
137  analogWrite(EnB,F2);
138  Serial.println(F2);
139}
140
141
142void Right(){
143  int  F3 =  map(255-ps2x.Analog(PSS_LX), 120, 0, 0, 255);
144  digitalWrite(in1,  LOW);             //Turning sequence that suited me I stop on track and turn the  other
145  digitalWrite(in2, LOW);             //You can turn them on different  sides to make it turn fast
146  analogWrite(EnA,F3);
147  digitalWrite(in3, HIGH);
148  digitalWrite(in4, LOW);
149  analogWrite(EnB,F3);
150  Serial.println(F3);
151  
152}
153
154
155void Left(){
156  int  F4 =  map(255-ps2x.Analog(PSS_LX), 130,  255, 0, 255);
157  digitalWrite(in1, LOW);
158  digitalWrite(in2, HIGH);
159  analogWrite(EnA,F4);
160  digitalWrite(in3, LOW);
161  digitalWrite(in4, LOW);
162  analogWrite(EnB,0);
163  Serial.println(F4);
164  
165}
166
167void Stop(){
168  digitalWrite(in1, LOW);
169  digitalWrite(in2, LOW);
170  analogWrite(EnA,0);
171  digitalWrite(in3, LOW);
172  digitalWrite(in4, LOW);
173  analogWrite(EnB,0);
174  
175}
176

/* This code is for RC LASER tank / Self propelled LASER Turret
 *  Refer to www.SurtrTech.com or SurtrTech YouTube channel for more details
 */

#include  <PS2X_lib.h>  //Libraries needed PS2 Receiver and Servo
#include <Servo.h> 

Servo  Servo1;        //Declaring cradle servos, Servo1 is the base
Servo Servo2;

PS2X  ps2x;          //Declaring the PS2X controller

int error = 0;      //PS2X  stuff to detect errors and type of controller
byte type = 0;
byte vibrate  = 0;  //vibration of the controller

int a,b;

//Motor A Right motor  for my project
int in1 = 2;
int in2 = 4;
int EnA = 3; //I'm controlling  the speed also

//Motor B
int in3 = 6;
int in4 = 7;
int EnB = 5;

void  setup(){
 
 Serial.begin(9600);  //Serial monitor will help you to see values  and know if your controls are detected or not
 error = ps2x.config_gamepad(13,11,8,12,  true, true);   //setup pins and settings:  GamePad(clock, command, attention, data,  Pressures?, Rumble?) check for error
 type = ps2x.readType();
 pinMode(in1,  OUTPUT);
 pinMode(in2, OUTPUT);
 pinMode(EnA, OUTPUT);
 pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
 pinMode(EnB, OUTPUT); 
 pinMode(A0,OUTPUT);                 //Those  lines concern the LASER, I ran out of pins and I put A0 as GND
 pinMode(A1,OUTPUT);                 //And the A1 provides 5v if I press the X button
 digitalWrite(A0,LOW);
  Servo1.attach(9);
 Servo2.attach(10);
  
}

void loop(){
   a=Servo1.read();  //Reading the previous servos positions is an important step so we can know where  they should position next
   b=Servo2.read();
  
   ps2x.read_gamepad(false,  vibrate);          //read controller and set large motor to spin at 'vibrate' speed    
   vibrate = ps2x.Analog(PSAB_BLUE);          //this will set the large  motor vibrate speed based on 
   digitalWrite(A1,vibrate);                  //if  the vibrate takes a value > threshold it will set the A1 (LASER) to high
   Stop();                                   //As long as no stick is pushed we stop, otherwise  move accordingly
   
   //Forward sequence
   if(255-ps2x.Analog(PSS_LY)  > 130){         //This is how I detect that the stick is pushed up the value gotten  should be 130-255
   Serial.println("Forward");                 //And the 255-...  before is just to arrange values because it was inverted
   Forward();
   }
   
   //Backward sequence
   if(255-ps2x.Analog(PSS_LY) < 120){
   Serial.println("Backward");  
   Backward();
   }
   
   //Right sequence
   if(ps2x.Analog(PSS_LX)  > 130){           //X Axis wasn't inverted that's why you don't see the 255-...
   Serial.println("Right");
   Right();
   }
   
   //Left sequence
   if(ps2x.Analog(PSS_LX) < 120){
   Serial.println("Left");
   Left();
   }

   //Cradle Right
   if(255-ps2x.Analog(PSS_RX) < 120){           //If  the stick is pointed to the right
   Serial.println("C Right");                   //We  read the current servo position (a=Servo1.read())
   Serial.println(ps2x.Analog(PSS_RX));         //And we decrement '1'
   a=a-1;                                       //Then  we write the new position which is a-1 you can change the '1' to higher to make  it turn fast
   Servo1.write(a);

   //Cradle Left
   }
   if(255-ps2x.Analog(PSS_RX)  > 130){
   Serial.println("C Left");
   Serial.println(ps2x.Analog(PSS_RX));
   a=a+1;
   Servo1.write(a);   
   }

    //Cradle Up
   if(255-ps2x.Analog(PSS_RY)  < 120){
   Serial.println("C Up");
   Serial.println(ps2x.Analog(PSS_RY));
   b=b+1;
   Servo2.write(b);

   //Cradle Down
   }
   if(255-ps2x.Analog(PSS_RY)  > 130){
   Serial.println("C Down");
   Serial.println(ps2x.Analog(PSS_RY));
   b=b-1;
   Servo2.write(b);   
   }
   
 delay(50);    
}

void  Forward(){
  int  F1 = map(255-ps2x.Analog(PSS_LY), 130, 255, 0, 255);     //Changing  the signal received from 130-255 to 0-255 to be able to write that value as PWM  signal
  digitalWrite(in1, LOW);                                       //To control  the speed
  digitalWrite(in2, HIGH);
  analogWrite(EnA,F1);
  digitalWrite(in3,  HIGH);
  digitalWrite(in4, LOW);
  analogWrite(EnB,F1);
  Serial.println(F1);
  
  
}


void Backward(){
  int  F2 =  map(255-ps2x.Analog(PSS_LY),  120, 0, 0, 255);
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(EnA,F2);
  digitalWrite(in3, LOW);
  digitalWrite(in4, HIGH);
  analogWrite(EnB,F2);
  Serial.println(F2);
}


void Right(){
  int  F3 =  map(255-ps2x.Analog(PSS_LX), 120, 0, 0, 255);
  digitalWrite(in1,  LOW);             //Turning sequence that suited me I stop on track and turn the  other
  digitalWrite(in2, LOW);             //You can turn them on different  sides to make it turn fast
  analogWrite(EnA,F3);
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);
  analogWrite(EnB,F3);
  Serial.println(F3);
  
}


void Left(){
  int  F4 =  map(255-ps2x.Analog(PSS_LX), 130,  255, 0, 255);
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(EnA,F4);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(EnB,0);
  Serial.println(F4);
  
}

void Stop(){
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  analogWrite(EnA,0);
  digitalWrite(in3, LOW);
  digitalWrite(in4, LOW);
  analogWrite(EnB,0);
  
}

PS2X Library

Library for your PS2 wireless controller