120 lines
2.3 KiB
C++
120 lines
2.3 KiB
C++
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#include <Servo.h>
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#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.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(7, 8);
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const uint64_t pipeIn = 0xE8E8F0F0E1LL;
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#define channel1 2
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#define channel3 4
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#define channel2 3
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#define channel4 5
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#define channel5 6
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#define channel6 9
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#define channel7 10
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Servo servo1;
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Servo servo2;
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Servo servo3;
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void setup() {
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Serial.begin(9600);
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pinMode(channel1, OUTPUT);
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servo1.attach(channel2);
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servo2.attach(channel4);
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servo3.attach(channel5);
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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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recvData();
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unsigned long now = millis();
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if (now - lastRecvTime > 1000) {
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Serial.println("Signal lost!");
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resetData();
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}
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//delay(250);
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digitalWrite(channel1, data.tSwitch1 == 1 ? HIGH : LOW);
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servo1.write(map(data.j1PotX, 0, 255, 0, 180));
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servo2.write(map(data.j1PotY, 0, 255, 0, 180));
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servo3.write(map(data.pot1, 255, 0, 0, 180));
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}
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void recvData() {
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while (radio.available()) {
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radio.read(&data, sizeof(MyData));
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/*analogWrite(throtle_pin, data.throttle);
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servo_yaw.write(map(data.yaw, 0, 255, 0, 180));
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servo_pitch.write(map(data.pitch, 0, 255, 0, 180));
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servo_roll.write(map(data.roll, 0, 255, 0, 180));*/
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/*Serial.print(data.j1PotX);
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Serial.print(", ");
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Serial.print(data.j1PotY);
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Serial.print(", ");
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Serial.print(data.j2PotX);
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Serial.print(", ");
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Serial.print(data.j2PotY);
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Serial.print(", ");
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Serial.print(data.pot1);
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Serial.print(", ");
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Serial.print(data.pot2);
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Serial.print(", ");
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Serial.print(data.tSwitch1);
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Serial.print(", ");
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Serial.print(data.tSwitch2);
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Serial.print(", ");
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Serial.print(data.button1);
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Serial.print(", ");
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Serial.println(data.button2);*/
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lastRecvTime = millis();
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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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