108 lines
2.2 KiB
C++
108 lines
2.2 KiB
C++
#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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#include <Servo.h>
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struct MyData {
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byte j1PotX;
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byte j1PotY;
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byte j2PotX;
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byte j2PotY;
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byte pot1;
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byte pot2;
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byte tSwitch1;
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byte tSwitch2;
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byte button1;
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byte button2;
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};
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MyData data;
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unsigned long lastRecvTime = 0;
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RF24 radio(8, 7);
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const uint64_t pipeIn = 0xE8E8F0F0E1LL;
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#define servo_pin 3
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#define motor_forward_pin 5
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#define motor_backward_pin 6
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Servo servo;
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void setup() {
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Serial.begin(9600);
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servo.attach(servo_pin);
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pinMode(motor_forward_pin, OUTPUT);
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pinMode(motor_backward_pin, OUTPUT);
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resetData();
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radio.begin();
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radio.setAutoAck(false);
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radio.setDataRate(RF24_250KBPS);
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radio.openReadingPipe(1, pipeIn);
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radio.startListening();
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}
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void loop() {
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while (radio.available()) {
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radio.read(&data, sizeof(MyData));
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//int angle = min(130, max(45, data.j2PotX - 35));
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int angle = min(130, max(45, (87 + (data.j2PotX - 127)/2)));
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servo.write(angle);
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/*Serial.print("throttle : ");
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Serial.print(data.throttle);
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Serial.print(", pot1 : ");
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Serial.println(data.pot1);
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Serial.print(", angle : ");
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Serial.println(angle);*/
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if (data.j1PotY < 100) {
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digitalWrite(motor_forward_pin, LOW);
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//digitalWrite(motor_backward_pin, HIGH);
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//analogWrite(motor_forward_pin, 0);
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analogWrite(motor_backward_pin, map(data.j1PotY, 100, 0, 180, 255));
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} else if (data.j1PotY > 150) {
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//digitalWrite(motor_forward_pin, HIGH);
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digitalWrite(motor_backward_pin, LOW);
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analogWrite(motor_forward_pin, map(data.j1PotY, 150, 255, 180, 255));
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//analogWrite(motor_backward_pin, 0);
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} else {
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digitalWrite(motor_forward_pin, LOW);
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digitalWrite(motor_backward_pin, LOW);
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}
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lastRecvTime = millis();
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}
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if (millis() - lastRecvTime > 1000) {
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resetData();
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servo.write(min(140, max(35, data.j2PotX - 35)));
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digitalWrite(motor_forward_pin, LOW);
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digitalWrite(motor_backward_pin, LOW);
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}
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}
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void resetData() {
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data.j1PotX = 127;
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data.j1PotY = 127;
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data.j2PotX = 127;
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data.j2PotY = 127;
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data.pot1 = 1;
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data.pot2 = 1;
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data.tSwitch1 = 1;
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data.tSwitch2 = 1;
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data.button1 = 1;
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data.button2 = 1;
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}
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