Ok this seems to be more working than not so here goes. if you notice the output it's showing the incoming data is center pot post map so high 120's and because of that the else part of the if else kicks in to stop sending movement commands to motors ( without it the motors will stay turning in last direction rec till new value is given)
sticks centered
127
129
Stop
L/R Stop
Stop
L/R Stop
Stop
L/R Stop
127
129
If i push UP on left stick i get wheel movement in one direction ( tho a lil choppy "L/R Stop is disabled or i would just hang :(")
254
129
Forward
L/R Stop
Forward
L/R Stop
253
129
If i push DOWN the driver tries to move the left side wheels but the right side kinda hang and i get this for output ( as mentioned L/R STOP leads no ware)
1
129
Reverse
L/R Stop
Reverse
L/R Stop
1
129
If i press right on the right side stick i get this and movement much like foreword on the other stick (Stop IS tied to the motorStop() function)
127
254
Stop
Right
Stop
Right
127
253
If i pres LEFT on the right side stick i get sound with no movement erratic movement but in the right directions ( im sure it's cos of motorStop from the first if else jumping in and mucking things up)
127
33
Stop
Left
Stop
Left
127
33
So the triggers seem? to work but now i am having to worry about stop functions getting in the way?
here is the full code thus far.
#include <Mirf.h>
#include <MirfHardwareSpiDriver.h>
#include <MirfSpiDriver.h>
#include <nRF24L01.h>
#include <SPI.h>
//***** set vars for each pots/sensor reading from transmitter
int val0; // UP/Down Left Stick
int val1; // Left/Right Right stick
//int val2; // servo 3
//int val3; // servo 4
int DIR_A = 12; //L298 DIR A Digital High/Low = left/right
int PWM_A = 3; //L298 PWM A Analog
int ENA_A = 9; //L298 Enable A Digital Hight/low on/off
int DIR_B = 13; //L298 DIR A Digital High/Low = left/right
int PWM_B = 11; //L298 PWM A Analog
int ENA_B = 8; //L298 Enable A Digital Hight/low on/off
//*********************************************
void setup(){
Serial.begin(57600);
pinMode(DIR_A, OUTPUT);
pinMode(PWM_A, OUTPUT);
pinMode(ENA_A, OUTPUT);
pinMode(DIR_B, OUTPUT);
pinMode(PWM_B, OUTPUT);
pinMode(ENA_B, OUTPUT);
//**************Start Transiever (NRF24L01) config**************
Mirf.cePin = 48;
Mirf.csnPin = 49;
Mirf.spi = &MirfHardwareSpi;
Mirf.init();
Mirf.setRADDR((byte *)"reci1");
Mirf.payload = 4 * sizeof(byte);
Mirf.config();
//**************End Transiever (NRF24L01) config**************
Serial.println("Beginning..."); // print somthing once to Serial to know your up
}
void loop(){
//+++++++++++Start data collection from transciever+++++++++
byte data[Mirf.payload];
if(Mirf.dataReady()){
do{
Mirf.getData(data);
//*********** Start array to collect pot/sensor data *********
val0 = data[0]; //Pot 1 on Transmitter
val1 = data[1]; //Pot 2 on Transmitter
// val2 = data[2]; //Pot 1 on Transmitter
// val3 = data[3]; //Pot 2 on Transmitter
//*********** End array to collect pot/sensor data *********
//**********Start Loop to print array to Serial Monitor
// /*
int i;
for (i = 0; i < 2; i = i + 1) {
Serial.println(data[i], DEC);
}
// */
//**********End Loop to print array to Serial Monitor
delay(10);
}
while(!Mirf.rxFifoEmpty());
}
//++++++++ END data collection from transciever++++++++++++
//_________________________Drive___________________________
//________________Forward / Reverse_____________
// Serial.println(val0);
// Serial.println(val1);
// Serial.println(val2);
// Serial.println(val3);
if(val0 < 110 ){
motorReverse();
Serial.println("Reverse");
}
else if(val0 > 135){
motorForward();
Serial.println("Forward");
}
else{
motorStop();
Serial.println("Stop");
}
//______________Left / Right________________
if(val1 < 110 ){
motorLeft();
Serial.println("Left");
}
else if(val1 > 135){
motorRight();
Serial.println("Right");
}
else{
// LRmotorStop();
Serial.println("L/R Stop");
}
//_____________________END DRIVE___________________
} // end of program
//***********************
//*************** External funct*********************
int motorReverse() {
val0 = map(val0, 0, 110, 0, 254);
digitalWrite(ENA_A, LOW);
digitalWrite(DIR_A, HIGH);
analogWrite(PWM_A, val0);
digitalWrite(ENA_B, LOW);
digitalWrite(DIR_B, HIGH);
analogWrite(PWM_B, val0);
}
int motorForward() {
val0 = map(val0, 135, 254, 0, 254);
digitalWrite(ENA_A, LOW);
digitalWrite(DIR_A, LOW);
analogWrite(PWM_A, val0);
digitalWrite(ENA_B, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_B, val0);
}
int motorStop(){
digitalWrite(ENA_A, LOW);
digitalWrite(DIR_A, LOW);
analogWrite(PWM_A, 0);
digitalWrite(ENA_B, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_B, 0);
}
int LRmotorStop(){
digitalWrite(ENA_A, LOW);
digitalWrite(DIR_A, LOW);
analogWrite(PWM_A, 0);
digitalWrite(ENA_B, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_B, 0);
}
int motorLeft(){
val1 = map(val1, 0, 110, 0, 254);
digitalWrite(ENA_A, LOW);
digitalWrite(DIR_A, HIGH);
analogWrite(PWM_A, val1);
digitalWrite(ENA_B, LOW);
digitalWrite(DIR_B, LOW);
analogWrite(PWM_B, val1);
}
int motorRight(){
val1 = map(val1, 135, 254, 0, 254);
digitalWrite(ENA_A, LOW);
digitalWrite(DIR_A, LOW);
analogWrite(PWM_A, val1);
digitalWrite(ENA_B, LOW);
digitalWrite(DIR_B, HIGH);
analogWrite(PWM_B, val1);
}
So some how i need to free the motors when center pot move F/R and L/R( combo LR skid steering) i guess with out repeatedly calling motorStop? any input would help guys thanks.