Right now I am using Arduino UNO based boards and using a NRF24L01 module for controlling the robot, however after some time it stops working, I don't understand the issue. I did not write the code myself. It came with the kit. I will share two codes, one is the code of the car and the other one is joystick code. I am using this forum first time, so sorry if I misuse something wrong. Please help me out.
Car Code
#include <Arduino.h>
#include "RF24.h"
#include <FlexiTimer2.h>
#include <EEPROM.h>
#include <Wire.h>
#define NRF_UPDATE_TIMEOUT 1000 //*1000
#define PIN_SERVO 2
#define MOTOR_DIRECTION 0 //If the direction is reversed, change 0 to 1
#define PIN_DIRECTION_LEFT 4
#define PIN_DIRECTION_RIGHT 3
#define PIN_MOTOR_PWM_LEFT 6
#define PIN_MOTOR_PWM_RIGHT 5
#define PIN_SONIC_TRIG 7
#define PIN_SONIC_ECHO 8
#define PIN_SPI_CE 9
#define PIN_SPI_CSN 10
#define PIN_SPI_MOSI 11
#define PIN_SPI_MISO 12
#define PIN_SPI_SCK 13
#define PIN_BATTERY A0
#define PIN_BUZZER A0
#define MOTOR_PWM_DEAD 5
#define BAT_VOL_STANDARD 7.0
enum RemoteData
{
JOYSTICK_X = 2,
JOYSTICK_Y = 3,
JOYSTICK_Z = 4,
S1 = 5,
S2 = 6,
S3 = 7
};
enum RemoteMode {
ON_ON_ON = 0,
ON_ON_OFF = 1, //Servo calibration mode.
ON_OFF_ON = 2,
ON_OFF_OFF = 3, //Ultrasonic obstacle avoidance mode.
OFF_ON_ON = 4,
OFF_ON_OFF = 5, //Line tracking mode.
OFF_OFF_ON = 6, //
OFF_OFF_OFF = 7 //Remote control mode.
};
enum RemoteModeSwitchState {
MODE_SWITCHING_IS_INITIALIZING = 0,
MODE_SWITCHING_IS_PROCESSING = 1,
MODE_SWITCHING_IS_CONFIRMING = 2,
MODE_SWITCHING_WAS_FINISHED = 3
};
float batteryVoltage = 0;
bool isBuzzered = false;
u32 lastNrfUpdateTime = 0;
RF24 radio(PIN_SPI_CE, PIN_SPI_CSN);
const byte addresses[6] = "Free1";
int nrfDataRead[8];
bool nrfComplete = false;
void setup() {
pinsSetup();
nrf24L01Setup();
if (!nrf24L01Setup()) {
alarm(4, 2);
}
}
void pinsSetup() {
pinMode(PIN_DIRECTION_LEFT, OUTPUT);
pinMode(PIN_MOTOR_PWM_LEFT, OUTPUT);
pinMode(PIN_DIRECTION_RIGHT, OUTPUT);
pinMode(PIN_MOTOR_PWM_RIGHT, OUTPUT);
pinMode(PIN_SONIC_TRIG, OUTPUT);// set trigPin to output mode
pinMode(PIN_SONIC_ECHO, INPUT); // set echoPin to input mode
setBuzzer(false);
}
bool nrf24L01Setup() {
// NRF24L01
if (radio.begin()) { // initialize RF24
radio.setPALevel(RF24_PA_MAX); // set power amplifier (PA) level
radio.setDataRate(RF24_1MBPS); // set data rate through the air
radio.setRetries(0, 15); // set the number and delay of retries
radio.openReadingPipe(1, addresses);// open a pipe for reading
radio.startListening(); // start monitoringtart listening on the pipes opened
FlexiTimer2::set(20, 1.0 / 1000, checkNrfReceived); // call every 20 1ms "ticks"
FlexiTimer2::start();
return true;
}
return false;
}
void loop() {
if (getNrf24L01Data()) {
clearNrfFlag();
updateCarActionByNrfRemote();
lastNrfUpdateTime = millis();
}
if (millis() - lastNrfUpdateTime > NRF_UPDATE_TIMEOUT) {
lastNrfUpdateTime = millis();
resetNrfDataBuf();
updateCarActionByNrfRemote();
}
}
void checkNrfReceived() {
delayMicroseconds(1000);
if (radio.available()) { // if receive the data
while (radio.available()) { // read all the data
radio.read(nrfDataRead, sizeof(nrfDataRead)); // read data
}
nrfComplete = true;
return;
}
nrfComplete = false;
}
void motorRun(int speedl, int speedr) {//
int dirL = 0, dirR = 0;
if (speedl > 0) {
dirL = 1 ^ MOTOR_DIRECTION;
} else {
dirL = 0 ^ MOTOR_DIRECTION;
speedl = -speedl;
}
if (speedr > 0) {
dirR = 0 ^ MOTOR_DIRECTION;
} else {
dirR = 1 ^ MOTOR_DIRECTION;
speedr = -speedr;
}
speedl = constrain(speedl, 0, 255);
speedr = constrain(speedr, 0, 255);
if (abs(speedl) < MOTOR_PWM_DEAD && abs(speedr) < MOTOR_PWM_DEAD) {
speedl = 0;
speedr = 0;
}
digitalWrite(PIN_DIRECTION_LEFT, dirL);
digitalWrite(PIN_DIRECTION_RIGHT, dirR);
analogWrite(PIN_MOTOR_PWM_LEFT, speedl);
analogWrite(PIN_MOTOR_PWM_RIGHT, speedr);
}
void updateCarActionByNrfRemote() { //
int x = nrfDataRead[2] - 512;
int y = nrfDataRead[3] - 512;
int pwmL, pwmR;
if (y < -10) { // back
pwmL = (y - x) / 2;
pwmR = (y - x) / 2;
}
else if (x < -20) { // right
pwmL = (-x + y) / 2;
pwmR = (x - y) / 2;
}
else if (x > 20) { // left
pwmL = (-x - y) / 2;
pwmR = (x + y) / 2;
}
else if (y > 10){ // forward
pwmL = (y + x) / 2;
pwmR = (y + x) / 2;
}
else { // stop
pwmL = 0;
pwmR = 0;
}
motorRun(pwmL, pwmR);
Serial.println();
if (nrfDataRead[4] == 0) {
setBuzzer(true);
} else {
setBuzzer(false);
}
}
bool getBatteryVoltage() { //
if (!isBuzzered) {
pinMode(PIN_BATTERY, INPUT);
int batteryADC = analogRead(PIN_BATTERY);
if (batteryADC < 614) // 3V/12V ,Voltage read: <2.1V/8.4V
{
batteryVoltage = batteryADC / 1023.0 * 5.0 * 4;
return true;
}
}
return false;
}
void setBuzzer(bool flag) {
isBuzzered = flag;
pinMode(PIN_BUZZER, flag);
digitalWrite(PIN_BUZZER, flag);
}
void alarm(u8 beat, u8 repeat) {
beat = constrain(beat, 1, 9);
repeat = constrain(repeat, 1, 255);
for (int j = 0; j < repeat; j++) {
for (int i = 0; i < beat; i++) {
setBuzzer(true);
delay(100);
setBuzzer(false);
delay(100);
}
delay(500);
}
}
void resetCarAction() {
motorRun(0, 0);
setBuzzer(false);
}
bool getNrf24L01Data(){
return nrfComplete;
}
void clearNrfFlag() {
nrfComplete = 0;
}
void resetNrfDataBuf() {
nrfDataRead[0] = 0;
nrfDataRead[1] = 0;
nrfDataRead[2] = 512;
nrfDataRead[3] = 512;
nrfDataRead[4] = 1;
nrfDataRead[5] = 1;
nrfDataRead[6] = 1;
nrfDataRead[7] = 1;
}
u8 updateNrfCarMode() {
// nrfDataRead [5 6 7] --> 111
return ((nrfDataRead[5] == 1 ? 1 : 0) << 2) | ((nrfDataRead[6] == 1 ? 1 : 0) << 1) | ((nrfDataRead[7] == 1 ? 1 : 0) << 0);
}
Joystick code
// NRF24L01
#include <SPI.h>
#include "RF24.h"
RF24 radio(9, 10); // define the object to control NRF24L01
const byte addresses[6] = "Free1";// define communication address which should correspond to remote control
// wireless communication
int dataWrite[8]; // define array used to save the write data
// pin
const int
// pot1Pin = A0, // define POT1 Potentiometer
// pot2Pin = A1, // define POT2 Potentiometer
joystickXPin = A2, // define pin for direction X of joystick
joystickYPin = A3, // define pin for direction Y of joystick
joystickZPin = 7, // define pin for direction Z of joystick
s1Pin = 4, // define pin for S1
s2Pin = 3, // define pin for S2
s3Pin = 2, // define pin for S3
// led1Pin = 6, // define pin for LED1 which is close to POT1 and used to indicate the state of POT1
// led2Pin = 5, // define pin for LED2 which is close to POT2 and used to indicate the state of POT2
led3Pin = 8; // define pin for LED3 which is close to NRF24L01 and used to indicate the state of NRF24L01
void setup() {
// NRF24L01
radio.begin(); // initialize RF24
radio.setPALevel(RF24_PA_MAX); // set power amplifier (PA) level
radio.setDataRate(RF24_1MBPS); // set data rate through the air
radio.setRetries(0, 15); // set the number and delay of retries
radio.openWritingPipe(addresses); // open a pipe for writing;// open a pipe for reading
radio.stopListening(); // stop listening for incoming messages
// pin
pinMode(joystickZPin, INPUT); // set led1Pin to input mode
pinMode(s1Pin, INPUT); // set s1Pin to input mode
pinMode(s2Pin, INPUT); // set s2Pin to input mode
pinMode(s3Pin, INPUT); // set s3Pin to input mode
// pinMode(led1Pin, OUTPUT); // set led1Pin to output mode
// pinMode(led2Pin, OUTPUT); // set led2Pin to output mode
pinMode(led3Pin, OUTPUT); // set led3Pin to output mode
}
void loop()
{
// put the values of rocker, switch and potentiometer into the array
// dataWrite[0] = analogRead(pot1Pin); // save data of Potentiometer 1
// dataWrite[1] = analogRead(pot2Pin); // save data of Potentiometer 2
dataWrite[2] = analogRead(joystickXPin); // save data of direction X of joystick
dataWrite[3] = analogRead(joystickYPin); // save data of direction Y of joystick
dataWrite[4] = digitalRead(joystickZPin); // save data of direction Z of joystick
dataWrite[5] = digitalRead(s1Pin); // save data of switch 1
dataWrite[6] = digitalRead(s2Pin); // save data of switch 2
dataWrite[7] = digitalRead(s3Pin); // save data of switch 3
// write radio data
if (radio.writeFast(&dataWrite, sizeof(dataWrite)))
{
digitalWrite(led3Pin, HIGH);
}
else {
digitalWrite(led3Pin, LOW);
}
delay(20);
}
