RC Tank Code

// Glue together PS2X controller code with DFRobot Motor Shield code
//
#include <PS2X_lib.h>  //for v1.6
 
PS2X ps2x; // create PS2 Controller Class
 
//right now, the library does NOT support hot pluggable controllers, meaning
//you must always either restart your Arduino after you conect the controller,
//or call config_gamepad(pins) again after connecting the controller.
int error = 0;
byte type = 0;
byte vibrate = 0;
 
//Arduino PWz Speed Control for DFRobot Motor Shield (default pins)
int M1 = 12;
int M2 = 13;
int E1 = 3;
int E2 = 11;
int lmotor = 0;
int rmotor = 0;
int duration, distance;
#define trigPin 10
#define echoPin 2
                       // These are all setting pin numbers and values with a certain name.
void setup()
{
  Serial.begin(57600);
 
  // set pin modes for Arduino Motor Shield
  pinMode(M1, OUTPUT); // This sets motor 1 pin (pin 12) as an output to the motor.
  pinMode(M2, OUTPUT); // This sets motor 2 pin (pin 13) as an output to the motor.
    Serial.begin (9600);
  pinMode(trigPin, OUTPUT); //This sets the trigPin (pin 10) as the output to the ultrasonic sensor.
  pinMode(echoPin, INPUT); //This sets the echoPin (pin 2) as the input from the ultrasonic sensor.
 
  error = ps2x.config_gamepad(7,5,4,6, true, true);   //setup pins and settings:  GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
 
  if(error == 0)
  {
    Serial.println("Found Controller, configured successful");
    Serial.println("Try out all the buttons, X will vibrate the controller, faster as you press harder;");
    Serial.println("holding L1 or R1 will print out the analog stick values.");
    Serial.println("Go to www.billporter.info for updates and to report bugs.");
   }
   else if(error == 1)
   {
     Serial.println("No controller found, check wiring, see readme.txt to enable debug. visit www.billporter.info for troubleshooting tips");
   }
   else if(error == 2)
   {
     Serial.println("Controller found but not accepting commands. see readme.txt to enable debug. Visit www.billporter.info for troubleshooting tips");
   }
   else if(error == 3)
   {
     Serial.println("Controller refusing to enter Pressures mode, may not support it. ");
   }
 
   type = ps2x.readType();
   if (type != 1)
   {
     Serial.println("warning: DualShock Controller Not Found!");
   }
}
 
void loop()
{
 if(error == 1) //skip loop if no controller found
  return;
 if (type == 1)
 {
    ps2x.read_gamepad(false, vibrate);          //read controller and set large motor to spin at 'vibrate' speed
 
   lmotor = 0;
   if (ps2x.Button(PSB_L1))  // this tells the Arduino that when I press L1, the left motor moves forward at full speed. 
     lmotor = 255;
   if (ps2x.Button(PSB_L2)) // this tells the Arduino that when I press L2, the left motor moves backwards at full speed.
     lmotor = -255;
 
   rmotor = 0;
   if (ps2x.Button(PSB_R1)) // this tells the Arduino that when I press R1, the right motor moves forward at full speed.
     rmotor = 255;
   if (ps2x.Button(PSB_R2)) // this tells the Arduino that when I press R2, the right motor moves backwards at full speed.
     rmotor = -255;
 
 }
 else
 {
   lmotor = 0;
   rmotor = 0;
 }
 
 // update motors
   if (lmotor < 0)
   {
    digitalWrite(M1, LOW);
    analogWrite(E1, -lmotor);   //PWM Speed Control
   }
   else
   {
    digitalWrite(M1, HIGH);    
    analogWrite(E1, lmotor);   //PWM Speed Control
   }
 
   if (rmotor < 0)
   {
    digitalWrite(M2, LOW);
    analogWrite(E2, -rmotor);   //PWM Speed Control
   }
   else
   {
    digitalWrite(M2, HIGH);
    analogWrite(E2, rmotor);   //PWM Speed Control
   }
 
 delay(30);                    // HIGH for digitalWrite means that it moves forward and LOW for digitalWrite means that it moves backwards.
                               // AnalogWrite controls speed and therefore direction of the two motors.
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(1000);
  digitalWrite(trigPin, LOW);
  duration = pulseIn(echoPin, HIGH);
  distance = (duration/2) / 29.1;
  if (distance >= 200 || distance <= 0){
    Serial.println("Hello");  // This tells me that that when the distance detected is over 200 cm away or is 0cm away, the monitor will say "
  }
  else {
    Serial.print(distance);
    Serial.println(" cm");
  }
   if (distance<=10){
   digitalWrite(M2, HIGH);  // This tells the Arduino that when the ultrasonic sensor detects a distance of 10cm or less, then the tank moves to the left
  }
  delay(500);
}