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Mestima 2021-12-29 10:57:20 +03:00
parent 2f130f7c3c
commit 084e9b702a
2 changed files with 310 additions and 0 deletions
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138
FoxRC_bt_btn/FoxRC_bt_btn.ino Normal file
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#include <SoftwareSerial.h>
#include <Time.h>
#include <RF24.h>
#include <nRF24L01.h>
#define RADIO_CHANNEL 42
#define RADIO_RATE RF24_250KBPS //RF24_1MBPS
#define RADIO_POWER RF24_PA_MAX
#define RADIO_CE 9
#define RADIO_CSN 10
const bool DEBUG = false;
const int gLedPin = 13;
const int gRxPin = 5;
const int gTxPin = 6;
const uint8_t pipe[6] = "Foxy1"; // radio address
RF24 radio(RADIO_CE, RADIO_CSN);
SoftwareSerial BTSerial(gRxPin, gTxPin);
bool input_lock = 0;
byte drive = 0;
struct Package {
byte steering; // 0 - off, 1 - turn left, 2 - turn right
byte drive; // 0 - full, 1 - back, 2 - front | same type as uint8_t
bool direction; // false - forward, true - backward
uint8_t speed; // int number 0-255
};
bool send_package(Package* pkg, int size) {
radio.write(pkg, size);
return 1; // loook what is this
}
bool Broadcast(Package pkg) {
Package pack = pkg;
return send_package(&pack, sizeof(pack));
}
Package buildPack(uint8_t speed, byte steering, bool direction) {
Package pack;
pack.speed = speed;
pack.steering = steering;
pack.direction = direction;
pack.drive = drive;
return pack;
}
void setup() {
BTSerial.begin(9600);
BTSerial.setTimeout(2);
if (DEBUG) {
Serial.begin(9600);
while (!Serial) {
;
}
Serial.println("Serial is listening...");
}
radio.begin();
radio.setChannel(RADIO_CHANNEL);
radio.setDataRate(RADIO_RATE);
radio.setPALevel(RADIO_POWER);
radio.openWritingPipe(pipe);
radio.setAutoAck(false);
radio.powerUp();
radio.stopListening();
}
void loop() {
if (BTSerial.available()) {
String stickInfo = BTSerial.readStringUntil('\n');
Serial.println(stickInfo);
if (stickInfo.length() != 8) {
if (DEBUG) {
Serial.print("Error: invalid bluetooth input: ");
Serial.println(stickInfo);
}
return;
}
int angle = stickInfo.substring(0,3).toInt();
uint8_t speed = map(stickInfo.substring(3,6).toInt(), 0, 100, 0, 255);
uint8_t button = stickInfo.substring(6).toInt(); // 1 - X, 2 - O, 3 - triangle, 4 - square
if (button == 1) {
input_lock = !input_lock;
if (DEBUG) {
Serial.print("Input Lock status: ");
Serial.println(input_lock);
}
}
if (input_lock) {
if (DEBUG) {
Serial.println("Input Lock!");
}
return;
}
if (button == 3) {
drive++;
if (drive > 2) {
drive = 0;
}
if (DEBUG) {
Serial.print("Drive mode set to ");
Serial.println(drive);
}
}
byte steering = 0;
if (button != 1 && button != 3) { // 0 is default position that should set steering to 0
if (button == 2) {
steering = 2;
} else if (button == 4) {
steering = 1;
}
}
if (DEBUG) {
Serial.println(steering);
}
bool direction = 0;
if (angle > 180) {
direction = 1;
}
Package pack = buildPack(speed, steering, direction);
bool sent = Broadcast(pack);
if (DEBUG && sent) {
Serial.print("Package is sent: ");
Serial.println(stickInfo);
}
}
}

172
FoxRC_car_bt/FoxRC_car_bt.ino Normal file
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#include <RF24.h>
#include <nRF24L01.h>
#define RADIO_CHANNEL 42
#define RADIO_RATE RF24_250KBPS //RF24_1MBPS
#define RADIO_POWER RF24_PA_MAX
#define RADIO_CE 7
#define RADIO_CSN 8
#define MOTOR1_MAIN1 5
#define MOTOR1_MAIN2 6
#define MOTOR2_MAIN1 9
#define MOTOR2_MAIN2 10
#define MOTOR_WHEEL1 A1
#define MOTOR_WHEEL2 A2
const bool DEBUG = false;
const uint8_t pipe[6] = "Foxy1";
RF24 radio(RADIO_CE, RADIO_CSN);
struct Package {
byte steering; // 0 - off, 1 - turn left, 2 - turn right
byte drive; // 0 - full, 1 - back, 2 - front | same type as uint8_t
bool direction; // false - forward, true - backward
uint8_t speed; // int number 0-255
};
bool emergency = false;
int emergencyTimer = 1000;
unsigned long emergencyCounter = 0;
bool handleEmergency() {
if (!emergency) {
return false;
}
if (DEBUG) {
Serial.println("Emergency lock!");
}
analogWrite(MOTOR1_MAIN1, 0);
analogWrite(MOTOR1_MAIN2, 0);
analogWrite(MOTOR2_MAIN1, 0);
analogWrite(MOTOR2_MAIN2, 0);
digitalWrite(MOTOR_WHEEL1, LOW);
digitalWrite(MOTOR_WHEEL2, LOW);
return true;
}
void handleMotors(uint8_t speed, byte steering, byte drive, bool direction) {
switch(drive) {
case(0): { // full drive
switch(direction) {
case(false): { // forward
analogWrite(MOTOR1_MAIN1, 0);
analogWrite(MOTOR1_MAIN2, speed);
analogWrite(MOTOR2_MAIN1, 0);
analogWrite(MOTOR2_MAIN2, speed);
break;
}
case(true): { // backward
analogWrite(MOTOR1_MAIN1, speed);
analogWrite(MOTOR1_MAIN2, 0);
analogWrite(MOTOR2_MAIN1, speed);
analogWrite(MOTOR2_MAIN2, 0);
break;
}
}
break;
}
case(1): { // back drive
switch(direction) {
case(false): { // forward
analogWrite(MOTOR1_MAIN1, 0);
analogWrite(MOTOR1_MAIN2, speed);
break;
}
case(true): { // backward
analogWrite(MOTOR1_MAIN1, speed);
analogWrite(MOTOR1_MAIN2, 0);
break;
}
}
break;
}
case(2): { // front drive
switch(direction) {
case(false): { // forward
analogWrite(MOTOR2_MAIN1, 0);
analogWrite(MOTOR2_MAIN2, speed);
break;
}
case(true): { // backward
analogWrite(MOTOR2_MAIN1, speed);
analogWrite(MOTOR2_MAIN2, 0);
break;
}
}
break;
}
}
switch(steering) {
case(0): { // off
digitalWrite(MOTOR_WHEEL1, LOW);
digitalWrite(MOTOR_WHEEL2, LOW);
break;
}
case(1): { // turn left
digitalWrite(MOTOR_WHEEL2, HIGH);
digitalWrite(MOTOR_WHEEL1, LOW);
break;
}
case(2): { // turn right
digitalWrite(MOTOR_WHEEL1, HIGH);
digitalWrite(MOTOR_WHEEL2, LOW);
break;
}
}
}
void setup() {
if (DEBUG) {
Serial.begin(9600);
while (!Serial) {
;
}
Serial.println("Serial is listening...");
}
pinMode(MOTOR_WHEEL1, OUTPUT);
pinMode(MOTOR_WHEEL2, OUTPUT);
digitalWrite(MOTOR_WHEEL1, LOW);
digitalWrite(MOTOR_WHEEL2, LOW);
radio.begin();
radio.setChannel(RADIO_CHANNEL);
radio.setDataRate(RADIO_RATE);
radio.setPALevel(RADIO_POWER);
radio.openReadingPipe(1, pipe);
radio.setAutoAck(false);
radio.powerUp();
radio.startListening();
emergencyCounter = millis();
}
void loop() {
if (millis() - emergencyCounter > emergencyTimer) {
emergency = true;
}
if(radio.available()){
if (emergency) {
emergency = false;
}
emergencyCounter = millis();
Package pack;
radio.read(&pack, sizeof(pack));
handleMotors(pack.speed, pack.steering, pack.drive, pack.direction);
if (DEBUG) {
Serial.print("Incoming packet - Speed: ");
Serial.print(pack.speed);
Serial.print(" | Steering: ");
Serial.print(pack.steering);
Serial.print(" | Drive: ");
Serial.print(pack.drive);
Serial.print(" | Direction: ");
Serial.println(pack.direction);
}
} else {
//handleEmergency();
}
}