Lil' Rover

1/*This code was written by learnayg 2021*/
2#include <SPI.h>
3#include
4  <nRF24L01.h>
5#include <RF24.h>
6RF24 radio(7,8);
7const byte address[6] =
8  "00001";
9
10include <Servo.h>
11Servo cameraMount;
12
13const int forward=6;
14const
15  int backward=5;
16const int turnLeft=10;
17const int turnRight=9;
18const int
19  buzzer=2;
20void setup(){
21  radio.begin();
22  radio.openReadingPipe(0, address);
23
24  radio.setPALevel(RF24_PA_MAX);
25  radio.setDataRate(RF24_250KBPS);
26  radio.startListening();
27
28  
29  cameraMount.attach(3);
30  pinMode(forward, OUTPUT);
31  pinMode(backward,
32  OUTPUT);
33  pinMode(turnLeft, OUTPUT);
34  pinMode(turnRight, OUTPUT);
35}
36void
37  loop(){
38  checkBattery();
39  // Read the message sent from the remote
40  char
41  message[32] = "";
42  radio.read(&message, sizeof(message));
43  String command=String(message);
44
45  
46  // Seperate the values
47  String forwardSpeed=String(command.charAt(0))+String(command.charAt(1))+String(command.charAt(2));
48
49  String backwardSpeed=String(command.charAt(3))+String(command.charAt(4))+String(command.charAt(5));
50
51  String turnLeftSpeed=String(command.charAt(6))+String(command.charAt(7))+String(command.charAt(8));
52
53  String turnRightSpeed=String(command.charAt(9))+String(command.charAt(10))+String(command.charAt(11));
54
55  String cameraMountPosition=String(command.charAt(12))+String(command.charAt(13))+String(command.charAt(14));
56
57  String buzzerState=String(command.charAt(15))+String(command.charAt(16))+String(command.charAt(17))+String(command.charAt(18));
58
59  
60  cameraMount.write(cameraMountPosition.toInt());
61  analogWrite(forward,forwardSpeed.toInt());
62
63  analogWrite(backward,backwardSpeed.toInt());
64  analogWrite(turnLeft,turnLeftSpeed.toInt());
65
66  analogWrite(turnRight,turnRightSpeed.toInt());
67  
68  if(buzzerState=="HIGH"){
69
70    digitalWrite(buzzer,HIGH);
71  }else{
72    digitalWrite(buzzer,LOW);
73
74  }
75  delay(25);
76}
77void checkBattery(){
78  const int batteryLight=4;
79
80  const int analogInput=A5;
81  float voltageOut;
82  float batteryVoltage;
83
84  float resistor1=100000.0;  // Resistance of Resistor1 (100K)
85  float resistor2=10000.0;
86   // Resistance of Resistor2 (10K)
87
88  pinMode(batteryLight, OUTPUT);
89
90  pinMode(analogInput,INPUT);
91
92  int rawValue=analogRead(analogInput);
93
94  voltageOut=(rawValue*5)/1024.0;
95  batteryVoltage=voltageOut/(resistor2/(resistor1+resistor2));
96
97  // If the battery voltage is to low turn the LED on
98  if(batteryVoltage<9){
99
100    digitalWrite(batteryLight,HIGH);
101  }else{
102    digitalWrite(batteryLight,LOW);
103
104  }
105}

1/*This code was written by learnayg 2021*/
2#include <SPI.h>
3#include
4  <nRF24L01.h>
5#include <RF24.h>
6
7RF24 radio(7,8);
8const byte address[6]
9  = "00001";
10
11const int cameraMountControl=A2;
12const int driveControl=A4;
13const
14  int turnControl=A6;
15const int lightButton=3;
16const int buzzerButton=2;
17String
18  buzzerState;
19void setup(){
20  radio.begin();
21  radio.openWritingPipe(address);
22
23  radio.setPALevel(RF24_PA_MAX);
24  radio.setDataRate(RF24_250KBPS);
25  radio.stopListening();
26
27  
28  pinMode(cameraMountControl,INPUT);
29  pinMode(driveControl,INPUT);
30
31  pinMode(turnControl,INPUT);
32  pinMode(lightButton,INPUT_PULLUP);
33  pinMode(buzzerButton,INPUT_PULLUP);
34}
35void
36  loop(){
37  if(digitalRead(buzzerButton)==0){
38    buzzerState="HIGH";
39
40  }else{
41    buzzerState="LOW";
42  }
43  int cameraMountControlReading=analogRead(cameraMountControl);
44
45  int cameraMountPosition=(180./1023.)*cameraMountControlReading;
46
47  int driveControlReading=analogRead(driveControl);
48
49  int forward;
50  int backward;
51  if(driveControlReading<=511){         //
52  DRIVE FORWARD
53    forward=(-255./511.)*driveControlReading+255.;
54    backward=0;
55
56  }else if(driveControlReading>=513){   // DRIVE BACKWARD
57    forward=0;
58
59    backward=(255./513.)*driveControlReading-255.;
60  }else{                                //
61  STOP
62    forward=0;
63    backward=0;
64  }
65  
66  int turnLeft;
67  int
68  turnRight;
69  int turnControlReading=analogRead(turnControl);
70  if(turnControlReading<=511){
71          // TURN RIGHT
72    turnRight=(-255./511.)*turnControlReading+255.;
73
74    turnLeft=0;
75  }else if(turnControlReading>=513){    // TURN LEFT
76    turnRight=0;
77
78    turnLeft=(255./513.)*turnControlReading-255.;
79  }else{                                //
80  DON'T TURN
81    turnLeft=0;
82    turnRight=0;
83  }
84  
85  // This ensures
86  that the values each have three characters
87  // this makes it easier to read
88  on the receiver's side
89  int stringLength;
90  String forwardSpeed=String(forward);
91          // Convert the value to a string
92  stringLength = int(forwardSpeed.length());
93    // Read the length of the string
94  for(int i=stringLength; i<3; i++){            //
95  If the length of the string is less than 
96    forwardSpeed = String("0" + forwardSpeed);
97  // three characters add a zero in the front
98  }
99  String backwardSpeed=String(backward);
100
101  stringLength = int(backwardSpeed.length());
102  for(int i=stringLength; i<3;
103  i++){
104    backwardSpeed = String("0" + backwardSpeed);
105  }
106  String turnLeftSpeed=String(turnLeft);
107
108  stringLength = int(turnLeftSpeed.length());
109  for(int i=stringLength; i<3;
110  i++){
111    turnLeftSpeed = String("0" + turnLeftSpeed);
112  }
113  String turnRightSpeed=String(turnRight);
114
115  stringLength = int(turnRightSpeed.length());
116  for(int i=stringLength; i<3;
117  i++){
118    turnRightSpeed = String("0" + turnRightSpeed);
119  }
120  String
121  cameraMountSend=String(cameraMountPosition);
122  stringLength = int(cameraMountSend.length());
123
124  for(int i=stringLength; i<3; i++){
125    cameraMountSend = String("0" + cameraMountSend);
126
127  }
128  // Combine all of the values into one string
129  String message=forwardSpeed+backwardSpeed+turnLeftSpeed+turnRightSpeed+cameraMountSend+buzzerState;
130
131  int textLength=int(message.length())+1;
132  char textSend[32]="";
133  // Convert
134  the string into a char
135  message.toCharArray(textSend,textLength);
136  radio.write(&textSend,
137  sizeof(textSend));
138}