Decreasing sensitivity of my PS2 controlled bot

hi there!

so using code control robot wireless ps2 gaming controller.

code: [select]

// 4/24/14
//sketch uses input left analog stick of ps2 gaming controller
// control motor driver requiring inputs 1000-2000us

#include <servo.h>
#include <ps2x_lib.h>  //for v1.6

ps2x ps2x; // create ps2 controller class

int error = 0;
byte type = 0;
byte vibrate = 0;
servo signal1;
servo signal2;
int input1 = 1500;// creates servo object
int input2 = 1500;



void setup()
{
  serial.begin(57600);

  signal1.attach(4);  //the pins servo control
  signal2.attach(5);

  error = ps2x.config_gamepad(13,11,10,12, true, true);   //setup pins , settings:  gamepad(clock, command, attention, data, pressures?, rumble?) check error

  if(error == 0)
    serial.println("controller found! may send commands");

  else if(error == 1)
    serial.println("no controller found, check wiring, see readme.txt enable debug. visit www.billporter.info troubleshooting tips");

  else if(error == 2)
    serial.println("controller found not accepting commands. see readme.txt enable debug. visit www.billporter.info troubleshooting tips");

  else if(error == 3)
    serial.println("controller refusing enter pressures mode, may not support it. ");

  type = ps2x.readtype();
  switch(type)
  {
  case 0:
    serial.println("unknown controller type");
    break;
  case 1:
    serial.println("dualshock controller found");
    break;
  }
}
//my sabortooth motordriver can use 2 signals 1000us-2000us control 2 motors
void loop()
{
  if(error == 1) //skip loop if no controller found
  {
    return;
  }
  else
  {
    ps2x.read_gamepad(false, 0);


    input1 = map(ps2x.analog(pss_ly), 0, 255, 2000, 1000);
    signal1.writemicroseconds(input1);
    //serial.print ("input1: ");
    //  serial.println (input1);


    input2 = map(ps2x.analog(pss_lx), 0, 255, 2000, 1000);
    signal2.writemicroseconds(input2);
    //serial.print ("input2: ");
    // serial.println (input2);
    delay(8);
  }
}


problem controls sensitive difficult control robot. minor movement on analog stick causes shoot across room! need create similar "expo" on rc transmitters. quick explanation:

""expo" short "exponential" , gives slop in movement of controller sticks. expo disabled (the default value), if move stick 50% of distance between center , edge, servo move 50%. move 75% servo moves 75%. easy, right?
now, give expo value , softening factor comes in. let's move stick 30%. instead of servo moving 30% of range, move degree less. higher expo setting, less servo move near center-stick area."

i've been looking @ softpwm library (https://code.google.com/p/rogue-code/wiki/softpwmlibrarydocumentation). perhaps come play. suggestions on how bot under control?

thanks!!!!

walter

code: [select]

    input1 = map(ps2x.analog(pss_ly), 0, 255, 2000, 1000);
what proof can offer analog() method returns value in range 0 255?

the other values speed set (continuous rotation, not a) servo to. if want robot go slower, use 2 values equally closer 1500 range.

Arduino Forum > Using Arduino > Programming Questions > Decreasing sensitivity of my PS2 controlled bot

arduino