RF24 Uno Joystick to L298N Motor and Servo contro (Working)

1 
2/* Radio Receiver
3 *  Adeept UNO with Motor Shield V2
4 *  Radio   module: nRF24L01 + PA + LNA with antenna built in -USE 3V !!!!  built in, 5V is   fine ONLY with shield or adaptor, or bypass capacitor, see specs
5 *  L298N -   7.4 V input - two 46850 batteries , use whatever you like .
6 *  Can be done with   any pair of UNOs - Written by Gallax 
7 *  
8 *  L298N is grounded to Uno. 
9   *  
10 *  Servo pin 2 or P4 on Adeept shield 
11 *  CE 9  CSN 10 for Adeept shield   
12 *  
13 *    ////////////L298N CONNECTIONS  ON ADEEPT SHIELD OR UNO ////////////////
14   *                   IN1    IN2    IN3    IN4       SPD1    SPD2 
15 *                    8       4      7      5         9       3
16 *  
17 *  I didnt use RF24 Adaptor,   shield has one built in. So this is universal for Unos.  
18 *   *   //////////////////////   RF24 Adaptor or use this pinout :) / 
19 *  __________________________________    
20 *  || 3V  ||  10 ||   11  ||  NC   ||           NC - not connected. 
21   *  || VCC-||-CSN-||- MOSI-||- IRQ  ||
22 *  ||_____||_____||_______||_______||   
23 *  || GND-||-CE -||- SCK -||- MISO ||
24 *  || GND || 9   ||  13   ||   12   ||
25 *  ||_____||_____||_______||_______||
26 *  
27
28 *  ///////////////////////////Servo   connection //////////////////////////
29 *  
30 *  Servo is connected to 5V, GND,   pin is 2 (search for servo.attach for reference)
31 *  Adeept shield requires pin   2 = P4 - yes this was quite a job. 
32 *  
33*/
34
35#include <SPI.h>
36#include   <nRF24L01.h>       // include RF24 libraries
37#include <RF24.h>           // This   will need some tweaking. Excellent job. 
38#include <Servo.h>          // Include   Servo library 
39
40Servo servo;               // creates servo object to control   servo 
41                           // twelve servo objects can be created on most   boards   
42
43RF24 radio(9, 10);                           // CE, CSN
44const   uint64_t pipe = 0xE8E8F0F0E1LL;       // sets channel 
45// const byte address[6]   = "00001";         // alternative     
46 
47int data[8];                   //   create dataset array 8 bit 
48
49
50int enA = 9;   // speed control A
51int   in1 = 8;                  // Motor A connections
52int in2 = 7;
53
54int enB   = 3;   // speed control B
55int in3 = 5;                  // Motor B connections            
56int in4 = 4; 
57 
58int xDir = 90;          // initial direction   for servo later  
59
60////////////////////////////////////////////////////////////////////////
61
62void   setup() {
63  
64  Serial.begin(9600);            // start serial monitor for   debugging 
65
66  radio.begin();                     // starts the radio 
67   radio.openReadingPipe(0, pipe);    // sets this RF24 as receiver
68  radio.setPALevel(RF24_PA_MIN);     // sets radio signal strength 
69  radio.setDataRate(RF24_250KBPS);   // sets   datarate to 250 kbps 
70  radio.startListening();            // starts listening   for data 
71
72 
73 /// ///////////// Set all the motor control pins to outputs/////////////////
74   pinMode(enA, OUTPUT);     // speed control motor A on L298N
75  pinMode(enB,   OUTPUT);     // speed control motor B on L298N
76  pinMode(in1, OUTPUT);     //   motor A output - will become forward high    
77  pinMode(in2, OUTPUT);     //   motor A output - will become forward low 
78  pinMode(in3, OUTPUT);     // motor   B output - will become forward high
79  pinMode(in4, OUTPUT);     // motor B output   - will become forward low 
80    
81  servo.attach(2);        //sets servo pin   to 2 = P4 on Adeept Shield
82
83}
84
85//////////////////LISTEN, READ, MAPPING   AND PRINTING DATA////////////////////
86 
87void loop() {
88
89   radio.startListening();              // receiver starts listening 
90   
91   if (radio.available()) {             // if the radio has connection 
92   
93   radio.read(&data, sizeof(data));     // read all in the dataset, sizeof is for numeric purposes 
94  
95   int   x = map(data[0], 0, 1024, 0, 180);   // creates integer x, maps data[0], 0 is the   first integer i used for the array, other than starting at 1 
96   int y = map(data[1],   0, 1024, 0, 255);   // now data is next in line at  1. 
97                                            //   maps data from 0 - 1024 --- converted by me to 0 - n where n = 180 or 255 
98  
99   Serial.print("x:");       // serial print text  for reading       
100  Serial.println(data[0]);   // (note only one with ln)print data, if fails, check connections. (note only   one with ln)
101  Serial.print("y:");       //prints text
102  Serial.print(data[1]);     // prints the next piece of data 
103  Serial.print("\	");       // i dunno,   youll see why i didnt change this
104  
105 /////////////////////IF DATA RECEIVED   - SERVO CONTROLS//////////////////////
106 
107 if ( data[0] == 0 )  {          //   if data 0 is equal to 0. servo turns left
108  xDir = 180;                    //   see unit circle
109  servo.write(xDir);             // TURN  
110  delay(15);                     //   small wait 
111 }
112 
113 if ( data[0] > 600 )  {           // if data is greater   than or equal to 600
114  xDir = 0;                       // dir is 0 
115  servo.write(xDir);              // TURN
116  delay(15);                     // rinse repeat     
117   }
118
119 if (data[0] == 329 or data[0] == 328 ) {      // more if data for x axis,   (steering)
120  xDir = 90;                                   // 90 is straight 
121   servo.write(xDir);                           // no turn 
122  delay(15);                                  //   small wait 
123 }
124
125/////////////////////IF DATA RECEIVED - MOTOR CONTROLS///////////////////////
126
127if   ( data[1] >= 650 )  {
128  
129  analogWrite(enA, 255);
130  analogWrite(enB, 255);
131   // Set motors to maximum speed
132  // For PWM maximum possible values are 0 to   255
133 
134  // Turn on motor A & B
135  digitalWrite(in1, HIGH);
136  digitalWrite(in2,   LOW);           //  GO MOTORS!
137  digitalWrite(in3, HIGH);
138  digitalWrite(in4,   LOW);
139
140 }
141 
142/********************************************************************/
143
144   else {                               
145  analogWrite(enA, 0);
146  analogWrite(enB,   0); 
147  digitalWrite(in1, LOW);            //  STOP MOTORS
148  digitalWrite(in2,   LOW);
149  digitalWrite(in3, LOW);          
150  digitalWrite(in4, LOW);
151 }
152   
153/////////////////////////////////////////////////////////////////////
154
155   if ( data[1] <= 10 )  {
156  analogWrite(enA, 255);
157  analogWrite(enB, 255);
158   digitalWrite(in1, LOW);                   //  BACKWARDS MOTORS
159  digitalWrite(in2,   HIGH);                // if failed Check your wires, motor faces up (red wire on   top) 
160  digitalWrite(in3, LOW);                 
161  digitalWrite(in4, HIGH);                
162 }
163
164/////////////////////////////////////////////////////////////////////
165
166    
167 else {         // waiting for connection, or NOT connected
168 
169 Serial.println("Not   connected");  // prints a line of text
170 delay(1000);                      //   waits/repeats every second   
171  }                               // delete this   else statement if it becomes an eyesore
172 }
173}
174
175
176
177
178
179  ////////////////       END       /////////////////

1
2/* Radio Transmitter
3 *  Elegoo Uno with starter kit shield. 
4   *  nRF24L01 + PA + LNA with antenna - USE 3V!!! you can only use 5V with adaptor   
5 *  i used a 9v battery directly into the Uno. 
6 *  Can be done with any   pair of UNOs - Written by Gallax 
7 *  
8 * ////////////////////////// Joystick   connection /////////////////////////////
9 *  
10 *  GND       - 
11 *  5V or   3V  -  
12 *  X out     - A0
13 *  Y out     - A1
14 *  SW(button)- NC - not   connected
15 *   
16 *   //////RF24 Adaptor or use this pinout directly into the   Uno:) / ////////
17 *  
18 *  __________________________________   
19 *  ||   3V  ||  10 ||   11  ||  NC   ||           NC - not connected. 
20 *  || VCC-||-CSN-||-   MOSI-||- IRQ  ||         note: remember CE 9  CSN 10 
21 *  ||_____||_____||_______||_______||                       
22 *  || GND-||-CE -||- SCK -||- MISO ||
23 *  || GND ||   9   ||  13   ||   12  ||
24 *  ||_____||_____||_______||_______||
25 *  
26 *   
27 *  
28 *
29*/
30
31
32
33#include <SPI.h>
34#include <nRF24L01.h>                     // include RF24 libraries
35#include <RF24.h>
36
37RF24 radio(9,   10);                      // CE, CSN
38const uint64_t pipe = 0xE8E8F0F0E1LL;   //   set channel
39// const byte address[6] = "00001";     // also sets channel
40   
41  int xPin = A0;                       // integer for joystick, x axis, analog   pin A0
42  int yPin = A5;                       // integer for joystick, y axis,   analog pin A5
43
44 // int x;               
45//  int y; 
46  int data[8];                          // forming datagroup, 8 bits is enough for car 
47  
48//////////////////////////////////////////////////////////////////////////////
49   
50void setup() {
51  
52  Serial.begin(9600);                  // start serial   monitor for debugging
53 
54  radio.begin();                       // start radio
55   radio.openWritingPipe(pipe);         // this is the controller
56  radio.setPALevel(RF24_PA_HIGH);       // High power
57  radio.setDataRate(RF24_250KBPS);     // data rate 250 kb/s
58   radio.stopListening();               // stops listening to transmit
59
60  }
61
62/////////////////////////////////////////////////////////////////////////////
63
64void   loop() {                     
65
66  xPin = analogRead(A0);                     //   read x pin from joystick 
67  yPin = analogRead(A5);                    //  read   y pin from joystick 
68
69  data[0] = xPin;                 // defines xPin which   is A0 as data
70  data[1] = yPin;               // defines yPin which is A1 as   data
71  
72  
73  radio.write(&data, sizeof(data));          // write 8 bits   of data to receiver
74                                             // no mapping   required for transmitter                       
75
76 
77  Serial.print("x:");           // text for debugging 
78  Serial.println(data[0]);    // prints data   notice this value is print line
79  Serial.print("y:");        //print the   values with to plot or view
80  Serial.print(data[1]);     // prints the next piece   of data 
81  Serial.print("\	");       // i dunno it works 
82}
83
84
85

1
2/* Radio Transmitter
3 *  Elegoo Uno with starter kit shield. 
4  *  nRF24L01 + PA + LNA with antenna - USE 3V!!! you can only use 5V with adaptor  
5 *  i used a 9v battery directly into the Uno. 
6 *  Can be done with any  pair of UNOs - Written by Gallax 
7 *  
8 * ////////////////////////// Joystick  connection /////////////////////////////
9 *  
10 *  GND       - 
11 *  5V or  3V  -  
12 *  X out     - A0
13 *  Y out     - A1
14 *  SW(button)- NC - not  connected
15 *   
16 *   //////RF24 Adaptor or use this pinout directly into the  Uno:) / ////////
17 *  
18 *  __________________________________   
19 *  ||  3V  ||  10 ||   11  ||  NC   ||           NC - not connected. 
20 *  || VCC-||-CSN-||-  MOSI-||- IRQ  ||         note: remember CE 9  CSN 10 
21 *  ||_____||_____||_______||_______||                      
22 *  || GND-||-CE -||- SCK -||- MISO ||
23 *  || GND ||  9   ||  13   ||   12  ||
24 *  ||_____||_____||_______||_______||
25 *  
26 *  
27 *  
28 *
29*/
30
31
32
33#include <SPI.h>
34#include <nRF24L01.h>                    // include RF24 libraries
35#include <RF24.h>
36
37RF24 radio(9,  10);                      // CE, CSN
38const uint64_t pipe = 0xE8E8F0F0E1LL;   //  set channel
39// const byte address[6] = "00001";     // also sets channel
40  
41  int xPin = A0;                       // integer for joystick, x axis, analog  pin A0
42  int yPin = A5;                       // integer for joystick, y axis,  analog pin A5
43
44 // int x;               
45//  int y; 
46  int data[8];                         // forming datagroup, 8 bits is enough for car 
47  
48//////////////////////////////////////////////////////////////////////////////
49  
50void setup() {
51  
52  Serial.begin(9600);                  // start serial  monitor for debugging
53 
54  radio.begin();                       // start radio
55  radio.openWritingPipe(pipe);         // this is the controller
56  radio.setPALevel(RF24_PA_HIGH);      // High power
57  radio.setDataRate(RF24_250KBPS);     // data rate 250 kb/s
58  radio.stopListening();               // stops listening to transmit
59
60  }
61
62/////////////////////////////////////////////////////////////////////////////
63
64void  loop() {                     
65
66  xPin = analogRead(A0);                     //  read x pin from joystick 
67  yPin = analogRead(A5);                    //  read  y pin from joystick 
68
69  data[0] = xPin;                 // defines xPin which  is A0 as data
70  data[1] = yPin;               // defines yPin which is A1 as  data
71  
72  
73  radio.write(&data, sizeof(data));          // write 8 bits  of data to receiver
74                                             // no mapping  required for transmitter                       
75
76 
77  Serial.print("x:");          // text for debugging 
78  Serial.println(data[0]);    // prints data  notice this value is print line
79  Serial.print("y:");        //print the  values with to plot or view
80  Serial.print(data[1]);     // prints the next piece  of data 
81  Serial.print("\	");       // i dunno it works 
82}
83
84
85

1 
2/* Radio Receiver
3 *  Adeept UNO with Motor Shield V2
4 *  Radio  module: nRF24L01 + PA + LNA with antenna built in -USE 3V !!!!  built in, 5V is  fine ONLY with shield or adaptor, or bypass capacitor, see specs
5 *  L298N -  7.4 V input - two 46850 batteries , use whatever you like .
6 *  Can be done with  any pair of UNOs - Written by Gallax 
7 *  
8 *  L298N is grounded to Uno. 
9  *  
10 *  Servo pin 2 or P4 on Adeept shield 
11 *  CE 9  CSN 10 for Adeept shield  
12 *  
13 *    ////////////L298N CONNECTIONS  ON ADEEPT SHIELD OR UNO ////////////////
14  *                   IN1    IN2    IN3    IN4       SPD1    SPD2 
15 *                    8      4      7      5         9       3
16 *  
17 *  I didnt use RF24 Adaptor,  shield has one built in. So this is universal for Unos.  
18 *   *   //////////////////////  RF24 Adaptor or use this pinout :) / 
19 *  __________________________________   
20 *  || 3V  ||  10 ||   11  ||  NC   ||           NC - not connected. 
21  *  || VCC-||-CSN-||- MOSI-||- IRQ  ||
22 *  ||_____||_____||_______||_______||  
23 *  || GND-||-CE -||- SCK -||- MISO ||
24 *  || GND || 9   ||  13   ||   12  ||
25 *  ||_____||_____||_______||_______||
26 *  
27
28 *  ///////////////////////////Servo  connection //////////////////////////
29 *  
30 *  Servo is connected to 5V, GND,  pin is 2 (search for servo.attach for reference)
31 *  Adeept shield requires pin  2 = P4 - yes this was quite a job. 
32 *  
33*/
34
35#include <SPI.h>
36#include  <nRF24L01.h>       // include RF24 libraries
37#include <RF24.h>           // This  will need some tweaking. Excellent job. 
38#include <Servo.h>          // Include  Servo library 
39
40Servo servo;               // creates servo object to control  servo 
41                           // twelve servo objects can be created on most  boards   
42
43RF24 radio(9, 10);                           // CE, CSN
44const  uint64_t pipe = 0xE8E8F0F0E1LL;       // sets channel 
45// const byte address[6]  = "00001";         // alternative     
46 
47int data[8];                   //  create dataset array 8 bit 
48
49
50int enA = 9;   // speed control A
51int  in1 = 8;                  // Motor A connections
52int in2 = 7;
53
54int enB  = 3;   // speed control B
55int in3 = 5;                  // Motor B connections           
56int in4 = 4; 
57 
58int xDir = 90;          // initial direction  for servo later  
59
60////////////////////////////////////////////////////////////////////////
61
62void  setup() {
63  
64  Serial.begin(9600);            // start serial monitor for  debugging 
65
66  radio.begin();                     // starts the radio 
67  radio.openReadingPipe(0, pipe);    // sets this RF24 as receiver
68  radio.setPALevel(RF24_PA_MIN);    // sets radio signal strength 
69  radio.setDataRate(RF24_250KBPS);   // sets  datarate to 250 kbps 
70  radio.startListening();            // starts listening  for data 
71
72 
73 /// ///////////// Set all the motor control pins to outputs/////////////////
74  pinMode(enA, OUTPUT);     // speed control motor A on L298N
75  pinMode(enB,  OUTPUT);     // speed control motor B on L298N
76  pinMode(in1, OUTPUT);     //  motor A output - will become forward high    
77  pinMode(in2, OUTPUT);     //  motor A output - will become forward low 
78  pinMode(in3, OUTPUT);     // motor  B output - will become forward high
79  pinMode(in4, OUTPUT);     // motor B output  - will become forward low 
80    
81  servo.attach(2);        //sets servo pin  to 2 = P4 on Adeept Shield
82
83}
84
85//////////////////LISTEN, READ, MAPPING  AND PRINTING DATA////////////////////
86 
87void loop() {
88
89   radio.startListening();             // receiver starts listening 
90   
91   if (radio.available()) {            // if the radio has connection 
92   
93   radio.read(&data, sizeof(data));    // read all in the dataset, sizeof is for numeric purposes 
94  
95   int  x = map(data[0], 0, 1024, 0, 180);   // creates integer x, maps data[0], 0 is the  first integer i used for the array, other than starting at 1 
96   int y = map(data[1],  0, 1024, 0, 255);   // now data is next in line at  1. 
97                                            //  maps data from 0 - 1024 --- converted by me to 0 - n where n = 180 or 255 
98  
99  Serial.print("x:");       // serial print text  for reading       
100  Serial.println(data[0]);  // (note only one with ln)print data, if fails, check connections. (note only  one with ln)
101  Serial.print("y:");       //prints text
102  Serial.print(data[1]);    // prints the next piece of data 
103  Serial.print("\	");       // i dunno,  youll see why i didnt change this
104  
105 /////////////////////IF DATA RECEIVED  - SERVO CONTROLS//////////////////////
106 
107 if ( data[0] == 0 )  {          //  if data 0 is equal to 0. servo turns left
108  xDir = 180;                    //  see unit circle
109  servo.write(xDir);             // TURN  
110  delay(15);                     //  small wait 
111 }
112 
113 if ( data[0] > 600 )  {           // if data is greater  than or equal to 600
114  xDir = 0;                       // dir is 0 
115  servo.write(xDir);             // TURN
116  delay(15);                     // rinse repeat     
117  }
118
119 if (data[0] == 329 or data[0] == 328 ) {      // more if data for x axis,  (steering)
120  xDir = 90;                                   // 90 is straight 
121  servo.write(xDir);                           // no turn 
122  delay(15);                                  //  small wait 
123 }
124
125/////////////////////IF DATA RECEIVED - MOTOR CONTROLS///////////////////////
126
127if  ( data[1] >= 650 )  {
128  
129  analogWrite(enA, 255);
130  analogWrite(enB, 255);
131  // Set motors to maximum speed
132  // For PWM maximum possible values are 0 to  255
133 
134  // Turn on motor A & B
135  digitalWrite(in1, HIGH);
136  digitalWrite(in2,  LOW);           //  GO MOTORS!
137  digitalWrite(in3, HIGH);
138  digitalWrite(in4,  LOW);
139
140 }
141 
142/********************************************************************/
143
144  else {                               
145  analogWrite(enA, 0);
146  analogWrite(enB,  0); 
147  digitalWrite(in1, LOW);            //  STOP MOTORS
148  digitalWrite(in2,  LOW);
149  digitalWrite(in3, LOW);          
150  digitalWrite(in4, LOW);
151 }
152  
153/////////////////////////////////////////////////////////////////////
154
155  if ( data[1] <= 10 )  {
156  analogWrite(enA, 255);
157  analogWrite(enB, 255);
158  digitalWrite(in1, LOW);                   //  BACKWARDS MOTORS
159  digitalWrite(in2,  HIGH);                // if failed Check your wires, motor faces up (red wire on  top) 
160  digitalWrite(in3, LOW);                 
161  digitalWrite(in4, HIGH);               
162 }
163
164/////////////////////////////////////////////////////////////////////
165
166   
167 else {         // waiting for connection, or NOT connected
168 
169 Serial.println("Not  connected");  // prints a line of text
170 delay(1000);                      //  waits/repeats every second   
171  }                               // delete this  else statement if it becomes an eyesore
172 }
173}
174
175
176
177
178
179  ////////////////      END       /////////////////