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Car NRF Receiver - Ino

This code controls the motors of a remote controlled car. It includes functions to: 1) Initialize the motor pins and radio receiver. The receiver listens for control packets on a specific pipe. 2) Define a packet data structure containing axis values and switch status. 3) In the main loop, continuously check for new packets. If received, parse the data and call functions to drive the motors accordingly. 4) Move the car by mapping axis values to motor speeds, handling throttle and steering differently on each side. 5) Directly control both motors when the switch is pressed.

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Octavian Alexa
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37 views3 pages

Car NRF Receiver - Ino

This code controls the motors of a remote controlled car. It includes functions to: 1) Initialize the motor pins and radio receiver. The receiver listens for control packets on a specific pipe. 2) Define a packet data structure containing axis values and switch status. 3) In the main loop, continuously check for new packets. If received, parse the data and call functions to drive the motors accordingly. 4) Move the car by mapping axis values to motor speeds, handling throttle and steering differently on each side. 5) Directly control both motors when the switch is pressed.

Uploaded by

Octavian Alexa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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#include <SPI.

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

#define SIGNAL_TIMEOUT 500 // This is signal timeout in milli seconds.

const uint64_t pipeIn = 0xF9E8F0F0E1LL;


RF24 radio(8, 9);
unsigned long lastRecvTime = 0;

struct PacketData
{
byte xAxisValue;
byte yAxisValue;
byte switchStatus;
} receiverData;

int enableMotor1=3;
int motor1Pin1=2;
int motor1Pin2=4;

int enableMotor2=5;
int motor2Pin1=6;
int motor2Pin2=7;

void setup()
{
pinMode(enableMotor1,OUTPUT);
pinMode(motor1Pin1,OUTPUT);
pinMode(motor1Pin2,OUTPUT);

pinMode(enableMotor2,OUTPUT);
pinMode(motor2Pin1,OUTPUT);
pinMode(motor2Pin2,OUTPUT);

rotateMotor(0,0);

radio.begin();
radio.setDataRate(RF24_250KBPS);
radio.openReadingPipe(1,pipeIn);
radio.startListening(); //start the radio receiver

void loop()
{
int motorSpead1=0;
int motorSpead2=0;
// Check if RF is connected and packet is available
if(radio.isChipConnected() && radio.available())
{
radio.read(&receiverData, sizeof(PacketData));
//This is default mode to run motors. Switch is open and HIGH if not pushed.
if (receiverData.switchStatus)
{
moveCar();
}
else
{
logicToTurnMotorsOnBothSide();
}
lastRecvTime = millis();
}
else
{
//Signal lost. Reset the motor to stop
unsigned long now = millis();
if ( now - lastRecvTime > SIGNAL_TIMEOUT )
{
rotateMotor(0, 0);
}
}
}

void moveCar()
{
int motorSpead1=0;
int motorSpead2=0;
int throttle = map(receiverData.yAxisValue, 0, 254, -255, 255);
int mappedXValue = map(receiverData.xAxisValue, 0, 254, -255, 255);
int motorDirection = 1;
if (throttle < 0)
{
motorDirection = -1;
}

motorSpead1 = abs(throttle) - mappedXValue;


motorSpead2 = abs(throttle) + mappedXValue;

motorSpead1 = constrain(motorSpead1, 0, 255);


motorSpead2 = constrain(motorSpead2, 0, 255);

rotateMotor(motorSpead1 * motorDirection, motorSpead2 * motorDirection);


}

void rotateMotor(int speed1, int speed2)


{
if (speed1 < 0)
{
digitalWrite(motor1Pin1,LOW);
digitalWrite(motor1Pin2,HIGH);
}
else if (speed1 >= 0)
{
digitalWrite(motor1Pin1,HIGH);
digitalWrite(motor1Pin2,LOW);
}

if (speed2 < 0)
{
digitalWrite(motor2Pin1,LOW);
digitalWrite(motor2Pin2,HIGH);
}
else if (speed2 >= 0)
{
digitalWrite(motor2Pin1,HIGH);
digitalWrite(motor2Pin2,LOW);
}

analogWrite(enableMotor1,abs(speed1));
analogWrite(enableMotor2,abs(speed2));
}

void logicToTurnMotorsOnBothSide()
{
int motorSpead1=0;
int motorSpead2=0;
int throttle = map(receiverData.yAxisValue, 0, 254, -255, 255);
int mappedXValue = map(receiverData.xAxisValue, 0, 254, -255, 255);
if (throttle < 0)
{
mappedXValue = -mappedXValue;
}

motorSpead1 = throttle - mappedXValue;


motorSpead2 = throttle + mappedXValue;

motorSpead1 = constrain(motorSpead1, -255, 255);


motorSpead2 = constrain(motorSpead2, -255, 255);

rotateMotor(motorSpead1, motorSpead2);
}

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