Hello everyone,
Thank you for viewing my issue big thank you if you help 
I am a beginner and I have code (from followed tutorial with unhelpful writer) for an rc car powered by 2 wheels. my problem is I have a set up where 1 motor controls forward and back and the other controls steering, whereas this code uses both motors for motion and steering. And was wondering if any could help me change the code as such I’ve had no help from the post of tutorial and would be appreciated. If I've missed any needed info out do not hesitate to ask.
Joystick/Transmitter code:
// Include RadioHead ReliableDatagram & NRF24 Libraries
#include <RHReliableDatagram.h>
#include <RH_NRF24.h>
// Include dependant SPI Library
#include <SPI.h>
// Define Joystick Connections
#define joyVert A0
#define joyHorz A1
// Define Joystick Values - Start at 512 (middle position)
int joyposVert = 512;
int joyposHorz = 512;
// Define addresses for radio channels
#define CLIENT_ADDRESS 1
#define SERVER_ADDRESS 2
// Create an instance of the radio driver
RH_NRF24 RadioDriver;
// Sets the radio driver to NRF24 and the client address to 1
RHReliableDatagram RadioManager(RadioDriver, CLIENT_ADDRESS);
// Declare unsigned 8-bit motorcontrol array
// 2 Bytes for motor speeds plus 1 byte for direction control
uint8_t motorcontrol[3];
// Define the Message Buffer
uint8_t buf[RH_NRF24_MAX_MESSAGE_LEN];
void setup()
{
// Setup Serial Monitor
Serial.begin(9600);
// Initialize RadioManager with defaults - 2.402 GHz (channel 2), 2Mbps, 0dBm
if (!RadioManager.init())
Serial.println("init failed");
// Set initial motor direction as forward
motorcontrol[2] = 0;
}
void loop()
{
// Print to Serial Monitor
Serial.println("Reading motorcontrol values ");
// Read the Joystick X and Y positions
joyposVert = analogRead(joyVert);
joyposHorz = analogRead(joyHorz);
// Determine if this is a forward or backward motion
// Do this by reading the Verticle Value
// Apply results to MotorSpeed and to Direction
if (joyposVert < 460)
{
// This is Backward
// Set Motors backward
motorcontrol[2] = 1;
//Determine Motor Speeds
// As we are going backwards we need to reverse readings
motorcontrol[0] = map(joyposVert, 460, 0, 0, 255);
motorcontrol[1] = map(joyposVert, 460, 0, 0, 255);
}
else if (joyposVert > 564)
{
// This is Forward
// Set Motors forward
motorcontrol[2] = 0;
//Determine Motor Speeds
motorcontrol[0] = map(joyposVert, 564, 1023, 0, 255);
motorcontrol[1] = map(joyposVert, 564, 1023, 0, 255);
}
else
{
// This is Stopped
motorcontrol[0] = 0;
motorcontrol[1] = 0;
motorcontrol[2] = 0;
}
// Now do the steering
// The Horizontal position will "weigh" the motor speed
// Values for each motor
if (joyposHorz < 460)
{
// Move Left
// As we are going left we need to reverse readings
// Map the number to a value of 255 maximum
joyposHorz = map(joyposHorz, 460, 0, 0, 255);
motorcontrol[0] = motorcontrol[0] - joyposHorz;
motorcontrol[1] = motorcontrol[1] + joyposHorz;
// Don't exceed range of 0-255 for motor speeds
if (motorcontrol[0] < 0)motorcontrol[0] = 0;
if (motorcontrol[1] > 255)motorcontrol[1] = 255;
}
else if (joyposHorz > 564)
{
// Move Right
// Map the number to a value of 255 maximum
joyposHorz = map(joyposHorz, 564, 1023, 0, 255);
motorcontrol[0] = motorcontrol[0] + joyposHorz;
motorcontrol[1] = motorcontrol[1] - joyposHorz;
// Don't exceed range of 0-255 for motor speeds
if (motorcontrol[0] > 255)motorcontrol[0] = 255;
if (motorcontrol[1] < 0)motorcontrol[1] = 0;
}
// Adjust to prevent "buzzing" at very low speed
if (motorcontrol[0] < 8)motorcontrol[0] = 0;
if (motorcontrol[1] < 8)motorcontrol[1] = 0;
//Display the Motor Control values in the serial monitor.
Serial.print("Motor A: ");
Serial.print(motorcontrol[0]);
Serial.print(" - Motor B: ");
Serial.print(motorcontrol[1]);
Serial.print(" - Direction: ");
Serial.println(motorcontrol[2]);
//Send a message containing Motor Control data to manager_server
if (RadioManager.sendtoWait(motorcontrol, sizeof(motorcontrol), SERVER_ADDRESS))
{
// Now wait for a reply from the server
uint8_t len = sizeof(buf);
uint8_t from;
if (RadioManager.recvfromAckTimeout(buf, &len, 2000, &from))
{
Serial.print("got reply from : 0x");
Serial.print(from, HEX);
Serial.print(": ");
Serial.println((char*)buf);
}
else
{
Serial.println("No reply, is nrf24_reliable_datagram_server running?");
}
}
else
Serial.println("sendtoWait failed");
delay(100); // Wait a bit before next transmission
}
RC Car/Receiver Code:
// Include RadioHead ReliableDatagram & NRF24 Libraries
#include <RHReliableDatagram.h>
#include <RH_NRF24.h>
// Include dependant SPI Library
#include <SPI.h>
// Define addresses for radio channels
#define CLIENT_ADDRESS 1
#define SERVER_ADDRESS 2
// Motor A Connections
int enA = 9;
int in1 = 3;
int in2 = 4;
// Motor B Connections
int enB = 7;
int in3 = 5;
int in4 = 6;
// Create an instance of the radio driver
RH_NRF24 RadioDriver;
// Sets the radio driver to NRF24 and the server address to 2
RHReliableDatagram RadioManager(RadioDriver, SERVER_ADDRESS);
// Define a message to return if values received
uint8_t ReturnMessage[] = "JoyStick Data Received";
// Define the Message Buffer
uint8_t buf[RH_NRF24_MAX_MESSAGE_LEN];
void setup()
{
// Setup Serial Monitor
Serial.begin(9600);
// Set all the motor control pins to outputs
pinMode(enA, OUTPUT);
pinMode(enB, OUTPUT);
pinMode(in1, OUTPUT);
pinMode(in2, OUTPUT);
pinMode(in3, OUTPUT);
pinMode(in4, OUTPUT);
// Initialize RadioManager with defaults - 2.402 GHz (channel 2), 2Mbps, 0dBm
if (!RadioManager.init())
Serial.println("init failed");
}
void loop()
{
if (RadioManager.available())
{
// Wait for a message addressed to us from the client
uint8_t len = sizeof(buf);
uint8_t from;
if (RadioManager.recvfromAck(buf, &len, &from))
{
// Serial Print the values of joystick
Serial.print("got request from : 0x");
Serial.print(from, HEX);
Serial.print(": MotorA = ");
Serial.print(buf[0]);
Serial.print(" MotorB = ");
Serial.print(buf[1]);
Serial.print(" Dir = ");
Serial.println(buf[2]);
// Set Motor Direction
if (buf[2] == 1)
{
// Motors are backwards
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
digitalWrite(in3, LOW);
digitalWrite(in4, HIGH);
}else{
// Motors are forwards
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
}
// Drive Motors
analogWrite(enA, buf[1]);
analogWrite(enB, buf[0]);
// Send a reply back to the originator client, check for error
if (!RadioManager.sendtoWait(ReturnMessage, sizeof(ReturnMessage), from))
Serial.println("sendtoWait failed");
}
}
}