[Maciiasty]

Witam! 

Jestem w trakcie projektu przeróbki traktora Siku 1:32 na rc. Myślałem ze zabawa z nrf będzie prosta.. a tu jednak brak gotowych projektów, które by od tak działały..

Wracając do sedna.. Potrzebuje przerobienia kodu do nadajnika i odbiornika. W projekcie uzyje Uno + Joystick GamePad shield jako nadajnika, i pro mini 3.3v jako odbiornika. W kodzie który posiadam jest 1 servo sterowane joystickiem, a potrzebuje o umieszczenie następujacych elementów:

- sterowanie serwa (Joystick prawo/lewo) - skrecanie traktoru - To już posiadam
- sterowanie drugiego serwa (micro switche) - opuszczanie brony za traktorem, tutaj potrzeba blokowania pozycji (zeby serwo nie wracalo do swojej pozycji tylko zostalo w miejscu)
- jazda w przód/tył (joystick góra/dół)

Nadajnik:

Kod:

#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"


//
// Hardware configuration
//

// Joystick Pins
int sensorPinX = A1;
int sensorPinY = A0;

// Led Pins
int red = 4;
int green = 2;

// Set up nRF24L01 radio on SPI bus plus pins 9 & 10
RF24 radio(9,10);

// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };

//Default values
int sensorValueX = 0;  
int oldSensorValueX = 0; // to keep track of the X value
int sensorValueY = 0;
int reposValue = 92; // default steady point for the servo


void setup(void)
{

 //
 // Setup and configure rf radio
 //

 radio.begin();

 // optionally, increase the delay between retries & # of retries
 radio.setRetries(15,15);

 // optionally, reduce the payload size.  seems to
 // improve reliability
 radio.setPayloadSize(8);

 //
 // Open pipes to other nodes for communication
 //

 // This simple sketch opens two pipes for these two nodes to communicate
 // back and forth.
 // Open 'our' pipe for writing
 // Open the 'other' pipe for reading, in position #1 (we can have up to 5 pipes open for reading)

   radio.openWritingPipe(pipes[0]);
   radio.openReadingPipe(1,pipes[1]);

 //
 // Start listening
 //

 radio.startListening();

 // Configure the LED
 pinMode(green, OUTPUT);
 pinMode(red, OUTPUT);
 digitalWrite(green, LOW);
 digitalWrite(red, LOW);
}

void sendOrder()
{
   // Get the value of the X axis of the Joystick
   sensorValueX = analogRead(sensorPinX);
   // We use thresholds on this axis : we only want a low value or a high value
   // if the previous value of the X axis is not over the thresholds, we can check the value of the current X axis.
   // this is to prevent redundancy
   if(oldSensorValueX > 35 && oldSensorValueX < 1000)
   {
     // If X axis is over the upper thresholds then we want to increment the value of the steady point of the servo
     if(sensorValueX > 1000)
     {
       reposValue++;
     }
     // If X axis is under the lower thresholds then we want to decrement the value of the steady point of the servo
     if(sensorValueX < 35)
     {
       reposValue--;
     }
   }
   // we update the previous value of the X axis
   oldSensorValueX = sensorValueX;

   // Now we get the value of the Y axis
   // The Y axis is used to drive the servo
   sensorValueY = analogRead(sensorPinY);  
   // We have to map the Y value (from 0 to 1024) with the possible values for the servo (0 to 180)
   sensorValueY = map(sensorValueY,0,1024,0,180);

   // If the Y value is close (+-4) to the steady point we take then the value of the steady point.
   // This is to prevent noise around the steady point.
   if(sensorValueY > (reposValue -4) && sensorValueY < (reposValue+4)) sensorValueY = reposValue;

  // First, stop listening so we can talk.
   radio.stopListening();

   // Take the time, and send it.  This will block until complete
   bool ok = radio.write( &sensorValueY, sizeof(int) );

   // Now, continue listening
   radio.startListening();

   // Wait here until we get a response, or timeout (10ms)
   unsigned long started_waiting_at = millis();
   bool timeout = false;
   while ( ! radio.available() && ! timeout )
     if (millis() - started_waiting_at > 10 )
       timeout = true;

   // Describe the results
   if ( timeout )
   {
     // At this point the ACK did not arrived so the red LED has to be on
     digitalWrite(green, LOW);
     digitalWrite(red, HIGH);
   }
   else
   {
     // Grab the response, compare, and send to debugging spew
     unsigned long response;
     radio.read( &response, sizeof(unsigned long) );

    // At this point the ACK did arrived so the green LED has to be on
     digitalWrite(green, HIGH);
     digitalWrite(red, LOW);
   }
}


void loop(void)
{
   sendOrder();

}

Odbiornik:

Kod:

#include <SPI.h>
#include <Servo.h>
#include "nRF24L01.h"
#include "RF24.h"


//
// Hardware configuration
//

Servo myservo;

// Set up nRF24L01 radio on SPI bus plus pins 9 & 10
RF24 radio(9,10);

//
// Topology
//

// Radio pipe addresses for the 2 nodes to communicate.
const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };

// Default Values
int servoPos = 92; // Steady point of the servo

void setup(void)
{

 //
 // Setup and configure rf radio
 //

 radio.begin();

 // optionally, increase the delay between retries & # of retries
 radio.setRetries(15,15);

 // optionally, reduce the payload size.  seems to
 // improve reliability
 radio.setPayloadSize(8);

 //
 // Open pipes to other nodes for communication
 //

 // This simple sketch opens two pipes for these two nodes to communicate
 // back and forth.
 // Open 'our' pipe for writing
 // Open the 'other' pipe for reading, in position #1 (we can have up to 5 pipes open for reading)

   radio.openWritingPipe(pipes[1]);
   radio.openReadingPipe(1,pipes[0]);

 //
 // Start listening
 //

 radio.startListening();

 //
 // Dump the configuration of the rf unit for debugging
 //

 // The servo is attached to pin 2
 myservo.attach(2);
 // Start with the steady point of the servo
 myservo.write(servoPos);
}


void receiveOrder()
{
   // if there is data ready
   if ( radio.available() )
   {
     // Dump the payloads until we've gotten everything
     unsigned long message;
     bool done = false;
     while (!done)
     {
       // Fetch the payload, and see if this was the last one.
       done = radio.read( &message, sizeof(unsigned long) );

       // Use it
       // The servo can only ake a value fro 0 to 180
       if(message > 180) message = 180;
       else if(message < 0) message = 0;
       // Save the postion
       servoPos = message;
       // Write the position to the servo
       myservo.write(servoPos);
     }

     // First, stop listening so we can talk
     radio.stopListening();

     // Send the final one back.
     radio.write( &message, sizeof(unsigned long) );

     // Now, resume listening so we catch the next packets.
     radio.startListening();
   }
}

void loop(void)
{
 receiveOrder();
}