initial upload
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138
FoxRC_bt_btn/FoxRC_bt_btn.ino
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138
FoxRC_bt_btn/FoxRC_bt_btn.ino
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#include <SoftwareSerial.h>
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#include <Time.h>
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#include <RF24.h>
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#include <nRF24L01.h>
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#define RADIO_CHANNEL 42
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#define RADIO_RATE RF24_250KBPS //RF24_1MBPS
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#define RADIO_POWER RF24_PA_MAX
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#define RADIO_CE 9
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#define RADIO_CSN 10
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const bool DEBUG = false;
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const int gLedPin = 13;
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const int gRxPin = 5;
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const int gTxPin = 6;
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const uint8_t pipe[6] = "Foxy1"; // radio address
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RF24 radio(RADIO_CE, RADIO_CSN);
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SoftwareSerial BTSerial(gRxPin, gTxPin);
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bool input_lock = 0;
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byte drive = 0;
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struct Package {
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byte steering; // 0 - off, 1 - turn left, 2 - turn right
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byte drive; // 0 - full, 1 - back, 2 - front | same type as uint8_t
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bool direction; // false - forward, true - backward
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uint8_t speed; // int number 0-255
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};
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bool send_package(Package* pkg, int size) {
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radio.write(pkg, size);
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return 1; // loook what is this
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}
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bool Broadcast(Package pkg) {
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Package pack = pkg;
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return send_package(&pack, sizeof(pack));
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}
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Package buildPack(uint8_t speed, byte steering, bool direction) {
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Package pack;
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pack.speed = speed;
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pack.steering = steering;
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pack.direction = direction;
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pack.drive = drive;
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return pack;
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}
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void setup() {
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BTSerial.begin(9600);
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BTSerial.setTimeout(2);
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if (DEBUG) {
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Serial.begin(9600);
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while (!Serial) {
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;
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}
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Serial.println("Serial is listening...");
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}
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radio.begin();
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radio.setChannel(RADIO_CHANNEL);
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radio.setDataRate(RADIO_RATE);
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radio.setPALevel(RADIO_POWER);
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radio.openWritingPipe(pipe);
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radio.setAutoAck(false);
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radio.powerUp();
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radio.stopListening();
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}
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void loop() {
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if (BTSerial.available()) {
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String stickInfo = BTSerial.readStringUntil('\n');
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Serial.println(stickInfo);
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if (stickInfo.length() != 8) {
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if (DEBUG) {
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Serial.print("Error: invalid bluetooth input: ");
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Serial.println(stickInfo);
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}
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return;
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}
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int angle = stickInfo.substring(0,3).toInt();
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uint8_t speed = map(stickInfo.substring(3,6).toInt(), 0, 100, 0, 255);
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uint8_t button = stickInfo.substring(6).toInt(); // 1 - X, 2 - O, 3 - triangle, 4 - square
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if (button == 1) {
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input_lock = !input_lock;
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if (DEBUG) {
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Serial.print("Input Lock status: ");
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Serial.println(input_lock);
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}
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}
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if (input_lock) {
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if (DEBUG) {
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Serial.println("Input Lock!");
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}
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return;
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}
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if (button == 3) {
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drive++;
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if (drive > 2) {
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drive = 0;
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}
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if (DEBUG) {
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Serial.print("Drive mode set to ");
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Serial.println(drive);
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}
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}
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byte steering = 0;
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if (button != 1 && button != 3) { // 0 is default position that should set steering to 0
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if (button == 2) {
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steering = 2;
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} else if (button == 4) {
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steering = 1;
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}
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}
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if (DEBUG) {
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Serial.println(steering);
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}
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bool direction = 0;
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if (angle > 180) {
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direction = 1;
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}
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Package pack = buildPack(speed, steering, direction);
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bool sent = Broadcast(pack);
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if (DEBUG && sent) {
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Serial.print("Package is sent: ");
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Serial.println(stickInfo);
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}
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}
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}
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172
FoxRC_car_bt/FoxRC_car_bt.ino
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172
FoxRC_car_bt/FoxRC_car_bt.ino
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#include <RF24.h>
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#include <nRF24L01.h>
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#define RADIO_CHANNEL 42
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#define RADIO_RATE RF24_250KBPS //RF24_1MBPS
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#define RADIO_POWER RF24_PA_MAX
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#define RADIO_CE 7
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#define RADIO_CSN 8
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#define MOTOR1_MAIN1 5
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#define MOTOR1_MAIN2 6
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#define MOTOR2_MAIN1 9
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#define MOTOR2_MAIN2 10
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#define MOTOR_WHEEL1 A1
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#define MOTOR_WHEEL2 A2
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const bool DEBUG = false;
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const uint8_t pipe[6] = "Foxy1";
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RF24 radio(RADIO_CE, RADIO_CSN);
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struct Package {
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byte steering; // 0 - off, 1 - turn left, 2 - turn right
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byte drive; // 0 - full, 1 - back, 2 - front | same type as uint8_t
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bool direction; // false - forward, true - backward
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uint8_t speed; // int number 0-255
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};
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bool emergency = false;
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int emergencyTimer = 1000;
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unsigned long emergencyCounter = 0;
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bool handleEmergency() {
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if (!emergency) {
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return false;
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}
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if (DEBUG) {
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Serial.println("Emergency lock!");
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}
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analogWrite(MOTOR1_MAIN1, 0);
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analogWrite(MOTOR1_MAIN2, 0);
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analogWrite(MOTOR2_MAIN1, 0);
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analogWrite(MOTOR2_MAIN2, 0);
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digitalWrite(MOTOR_WHEEL1, LOW);
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digitalWrite(MOTOR_WHEEL2, LOW);
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return true;
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}
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void handleMotors(uint8_t speed, byte steering, byte drive, bool direction) {
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switch(drive) {
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case(0): { // full drive
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switch(direction) {
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case(false): { // forward
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analogWrite(MOTOR1_MAIN1, 0);
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analogWrite(MOTOR1_MAIN2, speed);
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analogWrite(MOTOR2_MAIN1, 0);
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analogWrite(MOTOR2_MAIN2, speed);
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break;
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}
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case(true): { // backward
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analogWrite(MOTOR1_MAIN1, speed);
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analogWrite(MOTOR1_MAIN2, 0);
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analogWrite(MOTOR2_MAIN1, speed);
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analogWrite(MOTOR2_MAIN2, 0);
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break;
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}
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}
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break;
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}
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case(1): { // back drive
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switch(direction) {
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case(false): { // forward
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analogWrite(MOTOR1_MAIN1, 0);
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analogWrite(MOTOR1_MAIN2, speed);
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break;
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}
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case(true): { // backward
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analogWrite(MOTOR1_MAIN1, speed);
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analogWrite(MOTOR1_MAIN2, 0);
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break;
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}
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}
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break;
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}
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case(2): { // front drive
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switch(direction) {
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case(false): { // forward
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analogWrite(MOTOR2_MAIN1, 0);
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analogWrite(MOTOR2_MAIN2, speed);
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break;
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}
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case(true): { // backward
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analogWrite(MOTOR2_MAIN1, speed);
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analogWrite(MOTOR2_MAIN2, 0);
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break;
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}
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}
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break;
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}
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}
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switch(steering) {
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case(0): { // off
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digitalWrite(MOTOR_WHEEL1, LOW);
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digitalWrite(MOTOR_WHEEL2, LOW);
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break;
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}
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case(1): { // turn left
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digitalWrite(MOTOR_WHEEL2, HIGH);
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digitalWrite(MOTOR_WHEEL1, LOW);
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break;
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}
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case(2): { // turn right
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digitalWrite(MOTOR_WHEEL1, HIGH);
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digitalWrite(MOTOR_WHEEL2, LOW);
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break;
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}
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}
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}
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void setup() {
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if (DEBUG) {
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Serial.begin(9600);
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while (!Serial) {
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;
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}
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Serial.println("Serial is listening...");
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}
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pinMode(MOTOR_WHEEL1, OUTPUT);
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pinMode(MOTOR_WHEEL2, OUTPUT);
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digitalWrite(MOTOR_WHEEL1, LOW);
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digitalWrite(MOTOR_WHEEL2, LOW);
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radio.begin();
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radio.setChannel(RADIO_CHANNEL);
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radio.setDataRate(RADIO_RATE);
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radio.setPALevel(RADIO_POWER);
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radio.openReadingPipe(1, pipe);
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radio.setAutoAck(false);
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radio.powerUp();
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radio.startListening();
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emergencyCounter = millis();
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}
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void loop() {
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if (millis() - emergencyCounter > emergencyTimer) {
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emergency = true;
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}
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if(radio.available()){
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if (emergency) {
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emergency = false;
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}
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emergencyCounter = millis();
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Package pack;
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radio.read(&pack, sizeof(pack));
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handleMotors(pack.speed, pack.steering, pack.drive, pack.direction);
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if (DEBUG) {
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Serial.print("Incoming packet - Speed: ");
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Serial.print(pack.speed);
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Serial.print(" | Steering: ");
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Serial.print(pack.steering);
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Serial.print(" | Drive: ");
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Serial.print(pack.drive);
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Serial.print(" | Direction: ");
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Serial.println(pack.direction);
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}
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} else {
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//handleEmergency();
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}
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}
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