Create rcBOT.ino

rcBOT.ino

@@ -0,0 +1,120 @@
+#include <Nrf2401.h>
+#include <NRF24.h>
+#include <SPI.h>
+#include <stdlib.h>
+
+#define alante_c     sw1
+#define atras_c      sw2
+#define derecha_c    sw3
+#define izquierda_c  sw4
+
+#define alante    u
+#define atras     d
+#define derecha   r
+#define izquierda l
+
+boolean sw1;
+boolean sw2;
+boolean sw3;
+boolean sw4;
+
+boolean alante;
+boolean atras;
+boolean derecha;
+boolean izquierda;
+
+char c;
+char command[16];
+
+RF24 radio(48,53);
+const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
+
+void setup() {
+
+    radio.begin();  
+    radio.openWritingPipe(pipes[0]);
+    radio.openReadingPipe(1,pipes[1]);
+// Start listening
+    radio.startListening();
+
+    Serial.begin(9600);
+}
+
+void loop() {
+// while  
+ while ( ! radio.available()) { 
+
+// recibir DATA de nrf24l01+ origen
+
+      unsigned long got_message;
+
+      for (int x=0 ; x<16 ; x++){
+      c = radio.read( &got_message, sizeof(unsigned long) );
+      command[x] = c;
+
+      char s1[2] = {command[0], '\0'};
+      char s2[2] = {command[1], '\0'};
+      char s3[2] = {command[2], '\0'};
+      char s4[2] = {command[3], '\0'};   
+
+      char i1[4] = {command[4], command[5], command[6], '\0'};
+      char i2[4] = {command[7], command[8], command[9], '\0'};
+      char d3[4] = {command[10], command[11], command[12], '\0'};
+      char d4[4] = {command[13], command[14], command[15], '\0'};   
+
+// Convert char to int:
+
+      int s1i = atol (s1);
+      int s2i = atol (s2);
+      int s3i = atoi (s3);
+      int s4i = atoi (s4);   
+
+      int i1i = atol (i1);
+      int i2i = atol (i2);
+      int d3i = atoi (d3);
+      int d4i = atoi (d4);   
+
+      Serial.print(s1i);
+      Serial.print(s2i);
+      Serial.print(s3i);
+      Serial.println(s4i);
+
+      Serial.print(i1i);
+      Serial.print(i2i);
+      Serial.print(d3i);
+      Serial.println(d4i); 
+
+// palancas para movimiento continuo
+      if (s1i == '0')  sw1=0;
+      if (s1i == '1')  sw1=1; 
+      if (s2i == '0')  sw2=0; 
+      if (s2i == '1')  sw2=1;
+      if (s3i == '0')  sw3=0; 
+      if (s3i == '1')  sw3=1;
+      if (s4i == '0')  sw4=0; 
+      if (s4i == '1')  sw4=1;
+
+// motor alante
+      if (i2i > 90)    u=1;
+// motor atras
+      if (i2i < 90)    d=1;
+// motor parado eje Y
+      if (i2i == 90) {
+                      u=0;
+                      d=0;
+                     }
+// motor derecha
+      if (d3i > 90)    r=1;
+// motor izquierda
+      if (d3i < 90)    l=1;
+// motor parado eje X
+      if (d3i == 90) {
+                      r=0;
+                      l=0;
+                     }
+
+
+// activar motors segun valores swx o uprl
+      }
+ }
+}