Full/Half-duplex data transmission

Hello everyone
I bought two data transfer modules NRF24L1, and there is also a USB adapter for one of them. Is there any example to use the combination of these modules as computer-arduino, arduino-computer?
The point is that I am working on a remote-controlled machine which is controlled through a program written in processing.The car has a bunch of sensors that transmit real time information (obstacles, temperature, route and direction of movement, etc). However, in addition to receiving information, I have to give commands and control other mechanisms.
Is there a way to implement this?
I am also considering suggestions for replacing these modules
(I am sorry for my english, I am not a native speaker)

Your devices are TRANSCEIVERS!!! They either transmit or they receive. Not both at the same time!

Yes, define one side as the master (my suggestion: the PC) and only this side is allowed to initiate a communication. That means your car isn't allowed to send data to the PC, the PC has to ask for every sensor measurement and the car responds with a defined message, so the PC knows when the message is finished and it may ask for the next item.

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