Bumbleboat: RC-controlled Jet-Boat with NRF24

A small and fast Boat: 3D-printed and Arduino controlled!

Jan 27, 2023

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GPL3+

Remote Control

Devices & Components

Arduino Nano

M2,5 Nuts

SG90 Micro-servo motor

Red LED

M2,5 threaded rod (2x 60mm, 2x 35mm, 1x 40mm)

Dual axis Joystick

Jumper Wire

1,5mm² metal rod (110mm long)

Resistor 10k

Coupler for driveshaft (2mm² on 2mm²)

Servomotor Screws

M2,5 x 8 screws for Motor mount

nRF24 Module (Generic)

7.4 V LiPo Battery

Arduino UNO Mini Limited Edition

4500KV Brushless motor with 25A ESC (BEC)

2mm² metal rod (85mm long)

9V Battery with clip

Hardware & Tools

Soldering kit

3D Printer (generic)

Software & Tools

Arduino IDE

Project description

Code

One way: Transmitter

For Transmitter, without battery status

1#include <SPI.h>
2#include <nRF24L01.h>
3#include <RF24.h>
4
5const uint64_t pipeOut = 0xE8E8F0F0E1LL;
6RF24 radio(7, 8); //  CN and CSN  pins of nrf
7
8#define VRX_PIN  A5 // Arduino pin connected to VRX pin
9#define VRY_PIN  A3 // Arduino pin connected to VRY pin
10
11struct MyData {
12  byte xValue;
13  byte yValue;
14};
15
16MyData data;
17
18void setup()
19{
20  Serial.begin(9600);
21  radio.begin();
22  radio.setAutoAck(false);
23  radio.setDataRate(RF24_250KBPS);
24  radio.openWritingPipe(pipeOut);
25}
26void loop()
27{
28
29  data.xValue = map(analogRead(VRX_PIN), 0, 1023, 0, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
30  data.yValue = map(analogRead(VRY_PIN), 0, 1023, 0, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
31
32  Serial.print("X: ");
33  Serial.print(data.xValue);
34  Serial.print("Y: ");
35  Serial.println(data.yValue);
36  radio.write(&data, sizeof(MyData));
37}

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>

const uint64_t pipeOut = 0xE8E8F0F0E1LL;
RF24 radio(7, 8); //  CN and CSN  pins of nrf

#define VRX_PIN  A5 // Arduino pin connected to VRX pin
#define VRY_PIN  A3 // Arduino pin connected to VRY pin

struct MyData {
  byte xValue;
  byte yValue;
};

MyData data;

void setup()
{
  Serial.begin(9600);
  radio.begin();
  radio.setAutoAck(false);
  radio.setDataRate(RF24_250KBPS);
  radio.openWritingPipe(pipeOut);
}
void loop()
{

  data.xValue = map(analogRead(VRX_PIN), 0, 1023, 0, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
  data.yValue = map(analogRead(VRY_PIN), 0, 1023, 0, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255

  Serial.print("X: ");
  Serial.print(data.xValue);
  Serial.print("Y: ");
  Serial.println(data.yValue);
  radio.write(&data, sizeof(MyData));
}

Bidirectional Communication: Receiver

This Code is for the receiver

1#include <SPI.h>
2#include <nRF24L01.h>
3#include <RF24.h>
4#include <Servo.h>
5
6RF24 radio(7, 8); // CE, CSN
7const byte addresses[][6] = {"00001", "00002"};
8
9Servo ESC;      // create servo object to control the ESC
10Servo myservo;  // create servo object to control the servo
11
12#define batteryPin A0
13
14int batteryValue = 767;
15boolean lowBattery = 0;
16
17struct MyData {
18  byte xValue;
19  byte yValue;
20};
21
22MyData data;
23
24
25void setup() {
26  Serial.begin(9600);
27
28  ESC.attach(6, 1000, 2000); // (pin, min pulse width, max pulse width in microseconds)
29  myservo.attach(5);  // attaches the servo on pin 4 to the servo object
30
31  radio.begin();
32  radio.openWritingPipe(addresses[0]); // 00001
33  radio.openReadingPipe(1, addresses[1]); // 00002
34  radio.setPALevel(RF24_PA_MIN);
35}
36
37
38void loop() {
39  delay(5);
40  radio.startListening();
41
42  if ( radio.available() ) {
43    radio.read(&data, sizeof(MyData));
44
45    myservo.write(data.xValue);// sets the servo position according to the scaled value
46    ESC.write(data.yValue);// sets the servo position according to the scaled value
47  }
48  Serial.print("X: ");
49  Serial.print(data.xValue);
50  Serial.print("Y: ");
51  Serial.println(data.yValue);
52
53
54  delay(5);
55  radio.stopListening();
56  batteryValue = analogRead(batteryPin);
57  if (batteryValue <= 767) {
58    lowBattery = HIGH;
59  }
60  else {
61    lowBattery = LOW;
62  }
63  Serial.println(batteryValue);
64  Serial.println(lowBattery);
65  radio.write(&lowBattery, sizeof(lowBattery));
66}

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

RF24 radio(7, 8); // CE, CSN
const byte addresses[][6] = {"00001", "00002"};

Servo ESC;      // create servo object to control the ESC
Servo myservo;  // create servo object to control the servo

#define batteryPin A0

int batteryValue = 767;
boolean lowBattery = 0;

struct MyData {
  byte xValue;
  byte yValue;
};

MyData data;


void setup() {
  Serial.begin(9600);

  ESC.attach(6, 1000, 2000); // (pin, min pulse width, max pulse width in microseconds)
  myservo.attach(5);  // attaches the servo on pin 4 to the servo object

  radio.begin();
  radio.openWritingPipe(addresses[0]); // 00001
  radio.openReadingPipe(1, addresses[1]); // 00002
  radio.setPALevel(RF24_PA_MIN);
}


void loop() {
  delay(5);
  radio.startListening();

  if ( radio.available() ) {
    radio.read(&data, sizeof(MyData));

    myservo.write(data.xValue);// sets the servo position according to the scaled value
    ESC.write(data.yValue);// sets the servo position according to the scaled value
  }
  Serial.print("X: ");
  Serial.print(data.xValue);
  Serial.print("Y: ");
  Serial.println(data.yValue);


  delay(5);
  radio.stopListening();
  batteryValue = analogRead(batteryPin);
  if (batteryValue <= 767) {
    lowBattery = HIGH;
  }
  else {
    lowBattery = LOW;
  }
  Serial.println(batteryValue);
  Serial.println(lowBattery);
  radio.write(&lowBattery, sizeof(lowBattery));
}

One way: Receiver

For Receiver, without battery status

1#include <SPI.h>
2#include <nRF24L01.h>
3#include <RF24.h>
4#include <Servo.h>
5
6Servo ESC;      // create servo object to control the ESC
7Servo myservo;  // create servo object to control the servo
8
9const uint64_t pipeIn = 0xE8E8F0F0E1LL;
10RF24 radio(7, 8);
11
12struct MyData {
13  byte xValue;
14  byte yValue;
15};
16
17MyData data;
18
19void setup()
20{
21  Serial.begin(9600);
22  // Attach the ESC on pin 5
23  ESC.attach(6, 1000, 2000); // (pin, min pulse width, max pulse width in microseconds)
24  myservo.attach(5);  // attaches the servo on pin 4 to the servo object
25
26  radio.begin();
27  radio.setAutoAck(false);
28  radio.setDataRate(RF24_250KBPS);
29  radio.openReadingPipe(1, pipeIn);
30  radio.startListening();
31}
32
33void loop()
34{
35    if ( radio.available() ) {
36    radio.read(&data, sizeof(MyData));
37  
38    myservo.write(data.xValue);// sets the servo position according to the scaled value
39    ESC.write(data.yValue);// sets the servo position according to the scaled value
40  }
41  Serial.print("X: ");
42  Serial.print(data.xValue);
43  Serial.print("Y: ");
44  Serial.println(data.yValue);
45}

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

Servo ESC;      // create servo object to control the ESC
Servo myservo;  // create servo object to control the servo

const uint64_t pipeIn = 0xE8E8F0F0E1LL;
RF24 radio(7, 8);

struct MyData {
  byte xValue;
  byte yValue;
};

MyData data;

void setup()
{
  Serial.begin(9600);
  // Attach the ESC on pin 5
  ESC.attach(6, 1000, 2000); // (pin, min pulse width, max pulse width in microseconds)
  myservo.attach(5);  // attaches the servo on pin 4 to the servo object

  radio.begin();
  radio.setAutoAck(false);
  radio.setDataRate(RF24_250KBPS);
  radio.openReadingPipe(1, pipeIn);
  radio.startListening();
}

void loop()
{
    if ( radio.available() ) {
    radio.read(&data, sizeof(MyData));
  
    myservo.write(data.xValue);// sets the servo position according to the scaled value
    ESC.write(data.yValue);// sets the servo position according to the scaled value
  }
  Serial.print("X: ");
  Serial.print(data.xValue);
  Serial.print("Y: ");
  Serial.println(data.yValue);
}

Bidirectional Communication: Transmitter

This Code is for the transmitter

1#include <SPI.h>
2#include <nRF24L01.h>
3#include <RF24.h>
4
5RF24 radio(7, 8); // CE, CSN
6const byte addresses[][6] = {"00001", "00002"};
7
8#define VRX_PIN  A5 // Arduino pin connected to VRX pin
9#define VRY_PIN  A3 // Arduino pin connected to VRY pin
10#define ledPin 3
11
12boolean lowBattery = 0;
13
14struct MyData {
15  byte xValue;
16  byte yValue;
17};
18
19MyData data;
20
21
22void setup() {
23  Serial.begin(9600);
24  pinMode(3, OUTPUT);
25
26  radio.begin();
27  radio.openWritingPipe(addresses[1]); // 00002
28  radio.openReadingPipe(1, addresses[0]); // 00001
29  radio.setPALevel(RF24_PA_MIN);
30}
31
32
33void loop() {
34  delay(5);
35  radio.stopListening();
36
37  data.xValue = map(analogRead(VRX_PIN), 0, 1023, 25, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
38  data.yValue = map(analogRead(VRY_PIN), 0, 1023, 0, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
39  radio.write(&data, sizeof(MyData));
40
41  Serial.print("X: ");
42  Serial.print(data.xValue);
43  Serial.print("Y: ");
44  Serial.println(data.yValue);
45
46
47  delay(5);
48  radio.startListening();
49  Serial.println(lowBattery);
50  while (!radio.available());
51  radio.read(&lowBattery, sizeof(lowBattery));
52  if (lowBattery == HIGH) {
53    digitalWrite(ledPin, HIGH);
54  }
55  else {
56    digitalWrite(ledPin, LOW);
57  }
58}

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>

RF24 radio(7, 8); // CE, CSN
const byte addresses[][6] = {"00001", "00002"};

#define VRX_PIN  A5 // Arduino pin connected to VRX pin
#define VRY_PIN  A3 // Arduino pin connected to VRY pin
#define ledPin 3

boolean lowBattery = 0;

struct MyData {
  byte xValue;
  byte yValue;
};

MyData data;


void setup() {
  Serial.begin(9600);
  pinMode(3, OUTPUT);

  radio.begin();
  radio.openWritingPipe(addresses[1]); // 00002
  radio.openReadingPipe(1, addresses[0]); // 00001
  radio.setPALevel(RF24_PA_MIN);
}


void loop() {
  delay(5);
  radio.stopListening();

  data.xValue = map(analogRead(VRX_PIN), 0, 1023, 25, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
  data.yValue = map(analogRead(VRY_PIN), 0, 1023, 0, 180); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
  radio.write(&data, sizeof(MyData));

  Serial.print("X: ");
  Serial.print(data.xValue);
  Serial.print("Y: ");
  Serial.println(data.yValue);


  delay(5);
  radio.startListening();
  Serial.println(lowBattery);
  while (!radio.available());
  radio.read(&lowBattery, sizeof(lowBattery));
  if (lowBattery == HIGH) {
    digitalWrite(ledPin, HIGH);
  }
  else {
    digitalWrite(ledPin, LOW);
  }
}

Downloadable files

transmitter files

If You also want to use my transmitter

https://www.thingiverse.com/thing:5823549

3D-printable boat files

Download and print for the boat.

https://www.thingiverse.com/thing:5823509

Documentation

Transmitter schematic

This is the wiring for the transmitter.

Schematic_transmitter.jpg

Receiver schematic

This is the wiring for the boat (receiver).

Schematic_receiver.jpg

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kallekralle

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