I'm having ago at creating a remote control system for a machine, This drives forwards,backwards,steer left&right and possible lift function. I'm using NRF24L01 and some nano's, the code attached is working, so far I'm just consecrating on drive forward and backwards. The TX sends the signal to the RX everything is working quite well, At the moment I've just got some LED'S on the outputs but the trouble I'm having is the joystick reaches 70(ADC value) on the display and before Rx unit turns the LED'S on for drive it forward and backward LED'S come on, But the bit I'm not happy with that the PWM signal starts to glow the drive signal control voltage on before the outputs come on, This would cause the machine to jolt slightly on initial drive. I think I need some sort of threshold system for the joystick ??
Is there away in code I could stop this from happening ?
Here is the link to the joystick
This is the TX code
#include <Wire.h>
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x27, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);
#define FWD_input 3 //forward signal from joystick
#define BCK_input 4 //reverse signal from joystick
#define SL_input 5 //steer left input
#define SR_input 6 //sterr right input
#define Lift_input 7 //left select drive default
boolean fwd_dat = 0; //set the forward signal to 0
boolean bck_dat = 0;//set backwards siganl to 0
boolean sl_dat = 0; //set steer left signal to 0
boolean sr_dat = 0; //set sterr right to 0
boolean lift_dat = 0; //set lift to 0
const uint64_t pipeOut = 0xE8E8F0F0E1LL; //IMPORTANT: The same as in the receiver
float input_voltage = 0.0;
RF24 radio(9, 10); // select CSN pin
// The sizeof this struct should not exceed 32 bytes
// This gives us up to 32 8 bits channals
struct MyData {
int throttle; //throttle signal
byte Steer_left;//sterr left
byte Steer_right; //Steer right signal
byte DRV_FWD; //drive forwards
byte DRV_BCK; //drive backwards
byte Lift; //left signal
};
MyData data;
void resetData()
{
//This are the start values of each channal
// Throttle is 0 in order to stop the motors
data.throttle = 0;
data.Steer_left = 0; //Steer left signal
data.Steer_right = 0;
data.DRV_FWD = 0;
data.DRV_BCK = 0;
data.Lift = 0;
}
void setup()
{
Serial.begin(115200);
lcd.begin(16, 2);
pinMode(FWD_input, INPUT_PULLUP);
pinMode(BCK_input, INPUT_PULLUP);
pinMode(SL_input, INPUT);
pinMode(SR_input, INPUT);
pinMode(Lift_input, INPUT);
radio.begin();
radio.setAutoAck(false);
radio.setDataRate(RF24_250KBPS);
radio.openWritingPipe(pipeOut);
resetData();
lcd.clear();
}
void loop()
{
sl_dat = digitalRead(SL_input); //Steer left signal
sr_dat = digitalRead(SR_input); //Steer right signal
fwd_dat = digitalRead(FWD_input); //Drive forward signal
bck_dat = digitalRead(BCK_input); //Drive Reverse signal
lift_dat = digitalRead(Lift_input); //Select lift drive default
if (fwd_dat == LOW) {
data.DRV_FWD = 10;
lcd.setCursor(0, 1);
lcd.print("FORWARD");
}
else {
data.DRV_FWD = 0;
lcd.setCursor(0, 1);
lcd.print(" ");
}
if (bck_dat == LOW) {
data.DRV_BCK = 12;
lcd.setCursor(0, 1);
lcd.print("BACKWARD");
}
else {
data.DRV_BCK = 0;
lcd.setCursor(0, 1);
lcd.print(" ");
}
lcd.setCursor(0, 0);
lcd.print(data.throttle);
lcd.print(" ");
data.throttle = mapJoystickValues( analogRead(A0), 0, 507, 1023, true );
input_voltage = (data.throttle * 5.0) / 1024.0;
radio.write(&data, sizeof(MyData));
}
/// Returns a corrected value for a joystick position that takes into account
// the values of the outer extents and the middle of the joystick range.
int mapJoystickValues(int val, int lower, int middle, int upper, bool reverse)
{
val = constrain(val, lower, upper);
if ( val < middle )
val = map(val, lower, middle, 0, 1023);
else
val = map(val, middle, upper, 1023, 0);
return ( reverse ? 1023 - val : val );
}
RX code
#include <Wire.h>
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <LiquidCrystal_I2C.h>
LiquidCrystal_I2C lcd(0x3F, 2, 1, 0, 4, 5, 6, 7, 3, POSITIVE);
#define FWD_input 3
#define BCK_input 4
//#define SL_input 5
//#define SR_input 6
//#define Lift_input 7
const uint64_t pipeIn = 0xE8E8F0F0E1LL;
RF24 radio(9, 10);
int val;
// The sizeof this struct should not exceed 32 bytes
// This gives us up to 32 8 bits channals
struct MyData {
int throttle; //throttle signal
byte Steer_left;//sterr left
byte Steer_right; //Steer right signal
byte DRV_FWD; //drive forwards
byte DRV_BCK; //drive backwards
byte Lift; //left signal
};
MyData data;
void resetData()
{
//This are the start values of each channal
// Throttle is 0 in order to stop the motors
data.throttle = 0;
data.Steer_left = 0; //Steer left signal
data.Steer_right = 0;
data.DRV_FWD = 0;
data.DRV_BCK = 0;
data.Lift = 0;
}
/**************************************************/
void setup()
{
pinMode(FWD_input, OUTPUT); //setup the drive forward pin
pinMode(BCK_input, OUTPUT);//setup the drive backwards pin
// pinMode(SL_input, OUTPUT); //setup steer left pin
// pinMode(SR_input, OUTPUT);//setup steer right pin
// pinMode(Lift_input, OUTPUT); //set up lift pin
resetData();
lcd.begin(16, 2);
radio.begin();
radio.setDataRate(RF24_250KBPS); // Both endpoints must have this set the same
radio.setAutoAck(false);
lcd.clear();
radio.openReadingPipe(1, pipeIn);
radio.startListening();
}
/**************************************************/
unsigned long lastRecvTime = 0;
void recvData()
{
while ( radio.available() ) {
radio.read(&data, sizeof(MyData));
lastRecvTime = millis();
}
}
/**************************************************/
void loop()
{
recvData();
unsigned long now = millis();
if ( now - lastRecvTime > 1000 ) { //if data stops coming turn everything off with a second
// signal lost?
resetData();
}
if (data.DRV_FWD == 10) { // if we recieve a 10 turn on drive forward coil
digitalWrite(FWD_input, HIGH);
lcd.setCursor(0, 1);
lcd.print("FORWARD");
}
else {
digitalWrite(FWD_input, LOW);
lcd.setCursor(0, 1);
lcd.print(" ");
}
if (data.DRV_BCK == 12) { // if we recieve a 12 turn on drive backwards coil
digitalWrite(BCK_input, HIGH);
lcd.setCursor(0, 1);
lcd.print("BACKWARD");
}
else {
digitalWrite(BCK_input, LOW);
lcd.setCursor(0, 1);
lcd.print(" ");
}
lcd.setCursor(0, 0);
lcd.print(data.throttle); //fro debugging data
lcd.print(" ");
// sensorValue = data.throttle;
val = map(data.throttle, 0, 818, 0, 255); //write the pwm signal to motor controller
analogWrite(6, val);
}
/**************************************************/
