Teensy and Ardunio 2 Way Communication

Send the maximum 16 byte data packages between the 2 x Arduino, or the teensy and a nano.

Aug 15, 2022

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Devices & Components

Arduino Uno Rev3

Capacitor 100 µF

Teensy 4.0 Development Board

Project description

Code

Transmitter

arduino

1#include <SPI.h>
2#include <nRF24L01.h>
3#include "RF24.h"
4
5
6
7#define  CE_PIN   9    //4 for nano
8#define CSN_PIN 10    //2 for nano
9
10//Radio  variables declaration
11
12const byte slaveAddress[5] = {'R', 'x', 'A', 'A', 'A'};
13
14RF24  radio(CE_PIN, CSN_PIN); // Create a Radio
15
16struct Package
17{
18  int8_t   thrust = 0;
19  int8_t   x = 0;
20  int8_t   y = 0;
21  int8_t   z = 0;
22};
23
24struct  Sent_1
25{
26  int8_t   gyro_x = 0;
27  int8_t   gyro_y = 0;
28  int8_t   gyro_z  = 0;
29  int8_t   Front_Left;
30  int8_t   Front_Right;
31  int8_t   Rear_Left;
32  int8_t   Rear_Right;
33};
34
35Package package;
36Sent_1 sent_1;
37
38bool  newData = false;
39
40long unsigned int current_time = 0;
41const int signal_confimation_rate  = 1000;          //how often to send a radio confimation signal
42long unsigned  int signal_confimation_time = 1000;  //counts how often this signal is sent
43
44//Joystick  variables declaration
45
46//Input pins
47const int XL_pin = 0; // analog pin  connected to XL output
48const int YL_pin = 1; // analog pin connected to YL output
49const  int XR_pin = 2; // analog pin connected to XR output
50const int YR_pin = 3; //  analog pin connected to YR output
51
52//Pot values
53float xr, yr;
54float  xl, yl;
55float thrustRate;
56
57//Raw pot values
58float xr_raw, yr_raw;
59float  xl_raw, yl_raw;
60
61//Smoothing Vars
62const int numReadings = 20;
63int readIndex  = 0;              // the index of the current reading
64
65float readings_xr[numReadings];      // the readings from the analog input
66float total_xr = 0;                  //  the running total
67float average_xr = 0;                // the average
68
69float  readings_yr[numReadings];      // the readings from the analog input
70float total_yr  = 0;                  // the running total
71float average_yr = 0;                //  the average
72
73float readings_xl[numReadings];      // the readings from the  analog input
74float total_xl = 0;                  // the running total
75float  average_xl = 0;                // the average
76
77//Controller Values
78int  xr_mid;
79int yr_mid;
80int xl_mid;
81int yl_mid;
82//Controller angle setting
83int  max_tilt = 10;
84int min_tilt = 1;
85//Values for linearly mapping pot values  to X,Y target angles
86
87void setup()
88{
89  Serial.begin(115200);
90  delay(500);
91  Serial.println("Serial \	 OK");
92
93  radio.begin();
94  radio.setDataRate(  RF24_250KBPS );
95  radio.enableAckPayload();
96  radio.setRetries(5, 5); // delay,  count
97  // 5 gives a 1500 µsec delay which is needed for a 32 byte ackPayload
98  radio.openWritingPipe(slaveAddress);
99  Serial.println("Radio \	 OK");
100  delay(500);
101
102  xr_mid = analogRead(XR_pin);
103  yr_mid = analogRead(YR_pin);
104  xl_mid = analogRead(XL_pin);
105  yl_mid = analogRead(YL_pin);
106}
107
108void  loop() {
109
110  //Reading Joystick
111  processingJoyStick();
112
113  //Packing  data
114  package.y = -average_yr;
115  package.x = -average_xr;
116  package.z  = -average_xl;
117
118  //Thrust rate is a stationary value
119  thrustRate = yl;
120  package.thrust = package.thrust + thrustRate;
121
122  if (package.thrust >= 1800)  {
123    package.thrust = 1800;
124  }
125  if (package.thrust <= 1000) {
126    package.thrust  = 1000;
127  }
128
129  send();
130
131  printPackage();
132}
133
134void processingJoyStick()
135{
136  xr_raw = analogRead(XR_pin);
137  yr_raw = analogRead(YR_pin);
138  xl_raw = analogRead(XL_pin);
139  yl_raw = analogRead(YL_pin);
140
141  if (xr_raw > (xr_mid + 50)) {
142    xr  = (0.02 * xr_raw) - 10;
143  }
144  if (xr_raw < (xr_mid - 50)) {
145    xr = (0.02  * xr_raw) - 10;
146  }
147  if (xr_raw > 471 && xr_raw < 569) {
148    xr = 0;
149  }
150  if (yr_raw > 570) {
151    yr = (0.02 * yr_raw) - 10;
152  }
153  if (yr_raw  < 470) {
154    yr = (0.02 * yr_raw) - 10;
155  }
156  if (yr_raw > 471 && yr_raw  < 569) {
157    yr = 0;
158  }
159  if (xl_raw > 570) {
160    xl = (0.02 * xl_raw)  - 10;
161  }
162  if (xl_raw < 470) {
163    xl = (0.02 * xl_raw) - 10;
164  }
165  if (xl_raw > 471 && xl_raw < 569) {
166    xl = 0;
167  }
168  if (yl_raw > 570)  {
169    yl = (-0.02 * yl_raw) + 10;
170  }
171  if (yl_raw < 400) {
172    yl =  (-0.02 * yl_raw) + 10;
173  }
174  if (yl_raw > 401 && yl_raw < 569) {
175    yl  = 0;
176  }
177
178  //Control values must be smoothed or they cause the PDI control  system to spaz out when it receives a 10 straight away
179  //Smoothing XR values
180  total_xr  = total_xr  - readings_xr[readIndex];
181  // read from the sensor:
182  readings_xr[readIndex] = xr;
183  // add the reading to the total:
184  total_xr  = total_xr  + readings_xr[readIndex];
185
186  //Smoothing YR values
187  total_yr  = total_yr  - readings_yr[readIndex];
188  // read from the sensor:
189  readings_yr[readIndex]  = yr;
190  // add the reading to the total:
191  total_yr  = total_yr  + readings_yr[readIndex];
192
193  //Smoothing XL values
194  total_xl  = total_xl  - readings_xl[readIndex];
195  // read from the sensor:
196  readings_xl[readIndex] = xl;
197  // add the reading  to the total:
198  total_xl  = total_xl  + readings_xl[readIndex];
199  // advance  to the next position in the array:
200  readIndex = readIndex + 1;
201
202  // if  we're at the end of the array...
203  if (readIndex >= numReadings) {
204    //  ...wrap around to the beginning:
205    readIndex = 0;
206  }
207
208  // calculate  the xr average:
209  average_xr = total_xr  / numReadings;
210
211  // calculate  the yr average:
212  average_yr = total_yr  / numReadings;
213
214  // calculate  the xl average:
215  average_xl = total_xl  / numReadings;
216
217}
218
219void  printPackage()
220{
221  Serial.print(sent_1.gyro_x);
222  Serial.print("\	");
223  Serial.print(sent_1.gyro_y);
224  Serial.print("\	");
225  Serial.print(sent_1.gyro_z);
226  Serial.print("\	");
227  Serial.print(package.x);
228  Serial.print("\	");
229  Serial.print(package.y);
230  Serial.print("\	");
231  Serial.print(package.z);
232
233
234  Serial.println("  ");
235
236}
237
238void send() {
239
240  bool rslt;
241  rslt = radio.write( &package, sizeof(package) );
242  // Always use sizeof() as  it gives the size as the number of bytes.
243  // For example if dataToSend was  an int sizeof() would correctly return 2
244
245  if (rslt) {
246    if ( radio.isAckPayloadAvailable()  ) {
247      radio.read(&sent_1, sizeof(sent_1));
248      newData = true;
249    }
250    else {
251      Serial.println("  Acknowledge but no data ");
252    }
253  }
254  else {
255    Serial.println("  Tx failed");
256  }
257}

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



#define  CE_PIN   9    //4 for nano
#define CSN_PIN 10    //2 for nano

//Radio  variables declaration

const byte slaveAddress[5] = {'R', 'x', 'A', 'A', 'A'};

RF24  radio(CE_PIN, CSN_PIN); // Create a Radio

struct Package
{
  int8_t   thrust = 0;
  int8_t   x = 0;
  int8_t   y = 0;
  int8_t   z = 0;
};

struct  Sent_1
{
  int8_t   gyro_x = 0;
  int8_t   gyro_y = 0;
  int8_t   gyro_z  = 0;
  int8_t   Front_Left;
  int8_t   Front_Right;
  int8_t   Rear_Left;
  int8_t   Rear_Right;
};

Package package;
Sent_1 sent_1;

bool  newData = false;

long unsigned int current_time = 0;
const int signal_confimation_rate  = 1000;          //how often to send a radio confimation signal
long unsigned  int signal_confimation_time = 1000;  //counts how often this signal is sent

//Joystick  variables declaration

//Input pins
const int XL_pin = 0; // analog pin  connected to XL output
const int YL_pin = 1; // analog pin connected to YL output
const  int XR_pin = 2; // analog pin connected to XR output
const int YR_pin = 3; //  analog pin connected to YR output

//Pot values
float xr, yr;
float  xl, yl;
float thrustRate;

//Raw pot values
float xr_raw, yr_raw;
float  xl_raw, yl_raw;

//Smoothing Vars
const int numReadings = 20;
int readIndex  = 0;              // the index of the current reading

float readings_xr[numReadings];      // the readings from the analog input
float total_xr = 0;                  //  the running total
float average_xr = 0;                // the average

float  readings_yr[numReadings];      // the readings from the analog input
float total_yr  = 0;                  // the running total
float average_yr = 0;                //  the average

float readings_xl[numReadings];      // the readings from the  analog input
float total_xl = 0;                  // the running total
float  average_xl = 0;                // the average

//Controller Values
int  xr_mid;
int yr_mid;
int xl_mid;
int yl_mid;
//Controller angle setting
int  max_tilt = 10;
int min_tilt = 1;
//Values for linearly mapping pot values  to X,Y target angles

void setup()
{
  Serial.begin(115200);
  delay(500);
  Serial.println("Serial \	 OK");

  radio.begin();
  radio.setDataRate(  RF24_250KBPS );
  radio.enableAckPayload();
  radio.setRetries(5, 5); // delay,  count
  // 5 gives a 1500 µsec delay which is needed for a 32 byte ackPayload
  radio.openWritingPipe(slaveAddress);
  Serial.println("Radio \	 OK");
  delay(500);

  xr_mid = analogRead(XR_pin);
  yr_mid = analogRead(YR_pin);
  xl_mid = analogRead(XL_pin);
  yl_mid = analogRead(YL_pin);
}

void  loop() {

  //Reading Joystick
  processingJoyStick();

  //Packing  data
  package.y = -average_yr;
  package.x = -average_xr;
  package.z  = -average_xl;

  //Thrust rate is a stationary value
  thrustRate = yl;
  package.thrust = package.thrust + thrustRate;

  if (package.thrust >= 1800)  {
    package.thrust = 1800;
  }
  if (package.thrust <= 1000) {
    package.thrust  = 1000;
  }

  send();

  printPackage();
}

void processingJoyStick()
{
  xr_raw = analogRead(XR_pin);
  yr_raw = analogRead(YR_pin);
  xl_raw = analogRead(XL_pin);
  yl_raw = analogRead(YL_pin);

  if (xr_raw > (xr_mid + 50)) {
    xr  = (0.02 * xr_raw) - 10;
  }
  if (xr_raw < (xr_mid - 50)) {
    xr = (0.02  * xr_raw) - 10;
  }
  if (xr_raw > 471 && xr_raw < 569) {
    xr = 0;
  }
  if (yr_raw > 570) {
    yr = (0.02 * yr_raw) - 10;
  }
  if (yr_raw  < 470) {
    yr = (0.02 * yr_raw) - 10;
  }
  if (yr_raw > 471 && yr_raw  < 569) {
    yr = 0;
  }
  if (xl_raw > 570) {
    xl = (0.02 * xl_raw)  - 10;
  }
  if (xl_raw < 470) {
    xl = (0.02 * xl_raw) - 10;
  }
  if (xl_raw > 471 && xl_raw < 569) {
    xl = 0;
  }
  if (yl_raw > 570)  {
    yl = (-0.02 * yl_raw) + 10;
  }
  if (yl_raw < 400) {
    yl =  (-0.02 * yl_raw) + 10;
  }
  if (yl_raw > 401 && yl_raw < 569) {
    yl  = 0;
  }

  //Control values must be smoothed or they cause the PDI control  system to spaz out when it receives a 10 straight away
  //Smoothing XR values
  total_xr  = total_xr  - readings_xr[readIndex];
  // read from the sensor:
  readings_xr[readIndex] = xr;
  // add the reading to the total:
  total_xr  = total_xr  + readings_xr[readIndex];

  //Smoothing YR values
  total_yr  = total_yr  - readings_yr[readIndex];
  // read from the sensor:
  readings_yr[readIndex]  = yr;
  // add the reading to the total:
  total_yr  = total_yr  + readings_yr[readIndex];

  //Smoothing XL values
  total_xl  = total_xl  - readings_xl[readIndex];
  // read from the sensor:
  readings_xl[readIndex] = xl;
  // add the reading  to the total:
  total_xl  = total_xl  + readings_xl[readIndex];
  // advance  to the next position in the array:
  readIndex = readIndex + 1;

  // if  we're at the end of the array...
  if (readIndex >= numReadings) {
    //  ...wrap around to the beginning:
    readIndex = 0;
  }

  // calculate  the xr average:
  average_xr = total_xr  / numReadings;

  // calculate  the yr average:
  average_yr = total_yr  / numReadings;

  // calculate  the xl average:
  average_xl = total_xl  / numReadings;

}

void  printPackage()
{
  Serial.print(sent_1.gyro_x);
  Serial.print("\	");
  Serial.print(sent_1.gyro_y);
  Serial.print("\	");
  Serial.print(sent_1.gyro_z);
  Serial.print("\	");
  Serial.print(package.x);
  Serial.print("\	");
  Serial.print(package.y);
  Serial.print("\	");
  Serial.print(package.z);


  Serial.println("  ");

}

void send() {

  bool rslt;
  rslt = radio.write( &package, sizeof(package) );
  // Always use sizeof() as  it gives the size as the number of bytes.
  // For example if dataToSend was  an int sizeof() would correctly return 2

  if (rslt) {
    if ( radio.isAckPayloadAvailable()  ) {
      radio.read(&sent_1, sizeof(sent_1));
      newData = true;
    }
    else {
      Serial.println("  Acknowledge but no data ");
    }
  }
  else {
    Serial.println("  Tx failed");
  }
}

Transmitter

arduino

1#include <SPI.h>
2#include <nRF24L01.h>
3#include "RF24.h"
4
5
6
7#define
8  CE_PIN   9    //4 for nano
9#define CSN_PIN 10    //2 for nano
10
11//Radio
12  variables declaration
13
14const byte slaveAddress[5] = {'R', 'x', 'A', 'A', 'A'};
15
16RF24
17  radio(CE_PIN, CSN_PIN); // Create a Radio
18
19struct Package
20{
21  int8_t
22   thrust = 0;
23  int8_t   x = 0;
24  int8_t   y = 0;
25  int8_t   z = 0;
26};
27
28struct
29  Sent_1
30{
31  int8_t   gyro_x = 0;
32  int8_t   gyro_y = 0;
33  int8_t   gyro_z
34  = 0;
35  int8_t   Front_Left;
36  int8_t   Front_Right;
37  int8_t   Rear_Left;
38
39  int8_t   Rear_Right;
40};
41
42Package package;
43Sent_1 sent_1;
44
45bool
46  newData = false;
47
48long unsigned int current_time = 0;
49const int signal_confimation_rate
50  = 1000;          //how often to send a radio confimation signal
51long unsigned
52  int signal_confimation_time = 1000;  //counts how often this signal is sent
53
54//Joystick
55  variables declaration
56
57//Input pins
58const int XL_pin = 0; // analog pin
59  connected to XL output
60const int YL_pin = 1; // analog pin connected to YL output
61const
62  int XR_pin = 2; // analog pin connected to XR output
63const int YR_pin = 3; //
64  analog pin connected to YR output
65
66//Pot values
67float xr, yr;
68float
69  xl, yl;
70float thrustRate;
71
72//Raw pot values
73float xr_raw, yr_raw;
74float
75  xl_raw, yl_raw;
76
77//Smoothing Vars
78const int numReadings = 20;
79int readIndex
80  = 0;              // the index of the current reading
81
82float readings_xr[numReadings];
83      // the readings from the analog input
84float total_xr = 0;                  //
85  the running total
86float average_xr = 0;                // the average
87
88float
89  readings_yr[numReadings];      // the readings from the analog input
90float total_yr
91  = 0;                  // the running total
92float average_yr = 0;                //
93  the average
94
95float readings_xl[numReadings];      // the readings from the
96  analog input
97float total_xl = 0;                  // the running total
98float
99  average_xl = 0;                // the average
100
101//Controller Values
102int
103  xr_mid;
104int yr_mid;
105int xl_mid;
106int yl_mid;
107//Controller angle setting
108int
109  max_tilt = 10;
110int min_tilt = 1;
111//Values for linearly mapping pot values
112  to X,Y target angles
113
114void setup()
115{
116  Serial.begin(115200);
117  delay(500);
118
119  Serial.println("Serial \	 OK");
120
121  radio.begin();
122  radio.setDataRate(
123  RF24_250KBPS );
124  radio.enableAckPayload();
125  radio.setRetries(5, 5); // delay,
126  count
127  // 5 gives a 1500 µsec delay which is needed for a 32 byte ackPayload
128
129  radio.openWritingPipe(slaveAddress);
130  Serial.println("Radio \	 OK");
131
132  delay(500);
133
134  xr_mid = analogRead(XR_pin);
135  yr_mid = analogRead(YR_pin);
136
137  xl_mid = analogRead(XL_pin);
138  yl_mid = analogRead(YL_pin);
139}
140
141void
142  loop() {
143
144  //Reading Joystick
145  processingJoyStick();
146
147  //Packing
148  data
149  package.y = -average_yr;
150  package.x = -average_xr;
151  package.z
152  = -average_xl;
153
154  //Thrust rate is a stationary value
155  thrustRate = yl;
156
157  package.thrust = package.thrust + thrustRate;
158
159  if (package.thrust >= 1800)
160  {
161    package.thrust = 1800;
162  }
163  if (package.thrust <= 1000) {
164    package.thrust
165  = 1000;
166  }
167
168  send();
169
170  printPackage();
171}
172
173void processingJoyStick()
174{
175
176  xr_raw = analogRead(XR_pin);
177  yr_raw = analogRead(YR_pin);
178  xl_raw = analogRead(XL_pin);
179
180  yl_raw = analogRead(YL_pin);
181
182  if (xr_raw > (xr_mid + 50)) {
183    xr
184  = (0.02 * xr_raw) - 10;
185  }
186  if (xr_raw < (xr_mid - 50)) {
187    xr = (0.02
188  * xr_raw) - 10;
189  }
190  if (xr_raw > 471 && xr_raw < 569) {
191    xr = 0;
192
193  }
194  if (yr_raw > 570) {
195    yr = (0.02 * yr_raw) - 10;
196  }
197  if (yr_raw
198  < 470) {
199    yr = (0.02 * yr_raw) - 10;
200  }
201  if (yr_raw > 471 && yr_raw
202  < 569) {
203    yr = 0;
204  }
205  if (xl_raw > 570) {
206    xl = (0.02 * xl_raw)
207  - 10;
208  }
209  if (xl_raw < 470) {
210    xl = (0.02 * xl_raw) - 10;
211  }
212
213  if (xl_raw > 471 && xl_raw < 569) {
214    xl = 0;
215  }
216  if (yl_raw > 570)
217  {
218    yl = (-0.02 * yl_raw) + 10;
219  }
220  if (yl_raw < 400) {
221    yl =
222  (-0.02 * yl_raw) + 10;
223  }
224  if (yl_raw > 401 && yl_raw < 569) {
225    yl
226  = 0;
227  }
228
229  //Control values must be smoothed or they cause the PDI control
230  system to spaz out when it receives a 10 straight away
231  //Smoothing XR values
232
233  total_xr  = total_xr  - readings_xr[readIndex];
234  // read from the sensor:
235
236  readings_xr[readIndex] = xr;
237  // add the reading to the total:
238  total_xr
239  = total_xr  + readings_xr[readIndex];
240
241  //Smoothing YR values
242  total_yr
243  = total_yr  - readings_yr[readIndex];
244  // read from the sensor:
245  readings_yr[readIndex]
246  = yr;
247  // add the reading to the total:
248  total_yr  = total_yr  + readings_yr[readIndex];
249
250
251  //Smoothing XL values
252  total_xl  = total_xl  - readings_xl[readIndex];
253
254  // read from the sensor:
255  readings_xl[readIndex] = xl;
256  // add the reading
257  to the total:
258  total_xl  = total_xl  + readings_xl[readIndex];
259  // advance
260  to the next position in the array:
261  readIndex = readIndex + 1;
262
263  // if
264  we're at the end of the array...
265  if (readIndex >= numReadings) {
266    //
267  ...wrap around to the beginning:
268    readIndex = 0;
269  }
270
271  // calculate
272  the xr average:
273  average_xr = total_xr  / numReadings;
274
275  // calculate
276  the yr average:
277  average_yr = total_yr  / numReadings;
278
279  // calculate
280  the xl average:
281  average_xl = total_xl  / numReadings;
282
283}
284
285void
286  printPackage()
287{
288  Serial.print(sent_1.gyro_x);
289  Serial.print("\	");
290
291  Serial.print(sent_1.gyro_y);
292  Serial.print("\	");
293  Serial.print(sent_1.gyro_z);
294
295  Serial.print("\	");
296  Serial.print(package.x);
297  Serial.print("\	");
298
299  Serial.print(package.y);
300  Serial.print("\	");
301  Serial.print(package.z);
302
303
304
305  Serial.println("  ");
306
307}
308
309void send() {
310
311  bool rslt;
312
313  rslt = radio.write( &package, sizeof(package) );
314  // Always use sizeof() as
315  it gives the size as the number of bytes.
316  // For example if dataToSend was
317  an int sizeof() would correctly return 2
318
319  if (rslt) {
320    if ( radio.isAckPayloadAvailable()
321  ) {
322      radio.read(&sent_1, sizeof(sent_1));
323      newData = true;
324    }
325
326    else {
327      Serial.println("  Acknowledge but no data ");
328    }
329
330  }
331  else {
332    Serial.println("  Tx failed");
333  }
334}

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



#define
  CE_PIN   9    //4 for nano
#define CSN_PIN 10    //2 for nano

//Radio
  variables declaration

const byte slaveAddress[5] = {'R', 'x', 'A', 'A', 'A'};

RF24
  radio(CE_PIN, CSN_PIN); // Create a Radio

struct Package
{
  int8_t
   thrust = 0;
  int8_t   x = 0;
  int8_t   y = 0;
  int8_t   z = 0;
};

struct
  Sent_1
{
  int8_t   gyro_x = 0;
  int8_t   gyro_y = 0;
  int8_t   gyro_z
  = 0;
  int8_t   Front_Left;
  int8_t   Front_Right;
  int8_t   Rear_Left;

  int8_t   Rear_Right;
};

Package package;
Sent_1 sent_1;

bool
  newData = false;

long unsigned int current_time = 0;
const int signal_confimation_rate
  = 1000;          //how often to send a radio confimation signal
long unsigned
  int signal_confimation_time = 1000;  //counts how often this signal is sent

//Joystick
  variables declaration

//Input pins
const int XL_pin = 0; // analog pin
  connected to XL output
const int YL_pin = 1; // analog pin connected to YL output
const
  int XR_pin = 2; // analog pin connected to XR output
const int YR_pin = 3; //
  analog pin connected to YR output

//Pot values
float xr, yr;
float
  xl, yl;
float thrustRate;

//Raw pot values
float xr_raw, yr_raw;
float
  xl_raw, yl_raw;

//Smoothing Vars
const int numReadings = 20;
int readIndex
  = 0;              // the index of the current reading

float readings_xr[numReadings];
      // the readings from the analog input
float total_xr = 0;                  //
  the running total
float average_xr = 0;                // the average

float
  readings_yr[numReadings];      // the readings from the analog input
float total_yr
  = 0;                  // the running total
float average_yr = 0;                //
  the average

float readings_xl[numReadings];      // the readings from the
  analog input
float total_xl = 0;                  // the running total
float
  average_xl = 0;                // the average

//Controller Values
int
  xr_mid;
int yr_mid;
int xl_mid;
int yl_mid;
//Controller angle setting
int
  max_tilt = 10;
int min_tilt = 1;
//Values for linearly mapping pot values
  to X,Y target angles

void setup()
{
  Serial.begin(115200);
  delay(500);

  Serial.println("Serial \	 OK");

  radio.begin();
  radio.setDataRate(
  RF24_250KBPS );
  radio.enableAckPayload();
  radio.setRetries(5, 5); // delay,
  count
  // 5 gives a 1500 µsec delay which is needed for a 32 byte ackPayload

  radio.openWritingPipe(slaveAddress);
  Serial.println("Radio \	 OK");

  delay(500);

  xr_mid = analogRead(XR_pin);
  yr_mid = analogRead(YR_pin);

  xl_mid = analogRead(XL_pin);
  yl_mid = analogRead(YL_pin);
}

void
  loop() {

  //Reading Joystick
  processingJoyStick();

  //Packing
  data
  package.y = -average_yr;
  package.x = -average_xr;
  package.z
  = -average_xl;

  //Thrust rate is a stationary value
  thrustRate = yl;

  package.thrust = package.thrust + thrustRate;

  if (package.thrust >= 1800)
  {
    package.thrust = 1800;
  }
  if (package.thrust <= 1000) {
    package.thrust
  = 1000;
  }

  send();

  printPackage();
}

void processingJoyStick()
{

  xr_raw = analogRead(XR_pin);
  yr_raw = analogRead(YR_pin);
  xl_raw = analogRead(XL_pin);

  yl_raw = analogRead(YL_pin);

  if (xr_raw > (xr_mid + 50)) {
    xr
  = (0.02 * xr_raw) - 10;
  }
  if (xr_raw < (xr_mid - 50)) {
    xr = (0.02
  * xr_raw) - 10;
  }
  if (xr_raw > 471 && xr_raw < 569) {
    xr = 0;

  }
  if (yr_raw > 570) {
    yr = (0.02 * yr_raw) - 10;
  }
  if (yr_raw
  < 470) {
    yr = (0.02 * yr_raw) - 10;
  }
  if (yr_raw > 471 && yr_raw
  < 569) {
    yr = 0;
  }
  if (xl_raw > 570) {
    xl = (0.02 * xl_raw)
  - 10;
  }
  if (xl_raw < 470) {
    xl = (0.02 * xl_raw) - 10;
  }

  if (xl_raw > 471 && xl_raw < 569) {
    xl = 0;
  }
  if (yl_raw > 570)
  {
    yl = (-0.02 * yl_raw) + 10;
  }
  if (yl_raw < 400) {
    yl =
  (-0.02 * yl_raw) + 10;
  }
  if (yl_raw > 401 && yl_raw < 569) {
    yl
  = 0;
  }

  //Control values must be smoothed or they cause the PDI control
  system to spaz out when it receives a 10 straight away
  //Smoothing XR values

  total_xr  = total_xr  - readings_xr[readIndex];
  // read from the sensor:

  readings_xr[readIndex] = xr;
  // add the reading to the total:
  total_xr
  = total_xr  + readings_xr[readIndex];

  //Smoothing YR values
  total_yr
  = total_yr  - readings_yr[readIndex];
  // read from the sensor:
  readings_yr[readIndex]
  = yr;
  // add the reading to the total:
  total_yr  = total_yr  + readings_yr[readIndex];


  //Smoothing XL values
  total_xl  = total_xl  - readings_xl[readIndex];

  // read from the sensor:
  readings_xl[readIndex] = xl;
  // add the reading
  to the total:
  total_xl  = total_xl  + readings_xl[readIndex];
  // advance
  to the next position in the array:
  readIndex = readIndex + 1;

  // if
  we're at the end of the array...
  if (readIndex >= numReadings) {
    //
  ...wrap around to the beginning:
    readIndex = 0;
  }

  // calculate
  the xr average:
  average_xr = total_xr  / numReadings;

  // calculate
  the yr average:
  average_yr = total_yr  / numReadings;

  // calculate
  the xl average:
  average_xl = total_xl  / numReadings;

}

void
  printPackage()
{
  Serial.print(sent_1.gyro_x);
  Serial.print("\	");

  Serial.print(sent_1.gyro_y);
  Serial.print("\	");
  Serial.print(sent_1.gyro_z);

  Serial.print("\	");
  Serial.print(package.x);
  Serial.print("\	");

  Serial.print(package.y);
  Serial.print("\	");
  Serial.print(package.z);



  Serial.println("  ");

}

void send() {

  bool rslt;

  rslt = radio.write( &package, sizeof(package) );
  // Always use sizeof() as
  it gives the size as the number of bytes.
  // For example if dataToSend was
  an int sizeof() would correctly return 2

  if (rslt) {
    if ( radio.isAckPayloadAvailable()
  ) {
      radio.read(&sent_1, sizeof(sent_1));
      newData = true;
    }

    else {
      Serial.println("  Acknowledge but no data ");
    }

  }
  else {
    Serial.println("  Tx failed");
  }
}

Receiver

arduino

1#include <SPI.h>
2#include <nRF24L01.h>
3#include <RF24.h>
4
5#define  CE_PIN   4
6#define CSN_PIN 2
7
8RF24 myRadio(4, 2); const byte thisSlaveAddress[5]  = {'R', 'x', 'A', 'A', 'A'};
9
10RF24 radio(CE_PIN, CSN_PIN);
11
12char dataReceived[10];  // this must match dataToSend in the TX
13
14struct Package
15{
16  uint8_t   thrust = 1000;
17  uint8_t   x = 1;
18  uint8_t   y = 2;
19  uint8_t   z =  3;
20};
21
22Package package;
23
24struct Sent_1
25{
26  uint8_t   gyro_x  = 4;
27  uint8_t   gyro_y = 5;
28  uint8_t   gyro_z = 6;
29  uint8_t   Front_Left;
30  uint8_t   Front_Right;
31  uint8_t   Rear_Left;
32  uint8_t   Rear_Right;
33};
34
35Sent_1  sent_1;
36
37bool newData = false;
38
39void setup() {
40  Serial.begin(115200);
41  delay(1000);
42
43  Serial.println("SimpleRxAckPayload Starting");
44  radio.begin();
45  radio.setDataRate( RF24_250KBPS );
46  radio.openReadingPipe(1, thisSlaveAddress);
47  radio.enableAckPayload();
48  radio.startListening();
49  radio.writeAckPayload(1,  &sent_1, sizeof(sent_1)); // pre-load data
50
51}
52
53void loop() {
54  packageReply();
55  getData();
56  showData();
57}
58
59void packageReply() {
60
61  sent_1.gyro_x  = 4;
62  sent_1.gyro_y = 5;
63  sent_1.gyro_z = 6;
64
65  Serial.print(package.x);
66  Serial.print("  ");
67  Serial.print(package.y);
68  Serial.print("  ");
69  Serial.println(package.z);
70
71}
72
73void getData() {
74  if ( radio.available()  ) {
75    radio.read( &package, sizeof(package) );
76    updateReplyData();
77    newData = true;
78  }
79}
80
81//================
82
83void showData()  {
84  if (newData == true) {
85    Serial.print("Data received ");
86    Serial.println(dataReceived);
87    Serial.print(" ackPayload sent ");
88    Serial.print(package.x);
89    Serial.print(",  ");
90    Serial.println(sent_1.gyro_x);
91    newData = false;
92  }
93}
94
95//================
96
97void  updateReplyData() {
98  radio.writeAckPayload(1, &sent_1, sizeof(sent_1)); // load  the payload for the next time
99}

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

#define  CE_PIN   4
#define CSN_PIN 2

RF24 myRadio(4, 2); const byte thisSlaveAddress[5]  = {'R', 'x', 'A', 'A', 'A'};

RF24 radio(CE_PIN, CSN_PIN);

char dataReceived[10];  // this must match dataToSend in the TX

struct Package
{
  uint8_t   thrust = 1000;
  uint8_t   x = 1;
  uint8_t   y = 2;
  uint8_t   z =  3;
};

Package package;

struct Sent_1
{
  uint8_t   gyro_x  = 4;
  uint8_t   gyro_y = 5;
  uint8_t   gyro_z = 6;
  uint8_t   Front_Left;
  uint8_t   Front_Right;
  uint8_t   Rear_Left;
  uint8_t   Rear_Right;
};

Sent_1  sent_1;

bool newData = false;

void setup() {
  Serial.begin(115200);
  delay(1000);

  Serial.println("SimpleRxAckPayload Starting");
  radio.begin();
  radio.setDataRate( RF24_250KBPS );
  radio.openReadingPipe(1, thisSlaveAddress);
  radio.enableAckPayload();
  radio.startListening();
  radio.writeAckPayload(1,  &sent_1, sizeof(sent_1)); // pre-load data

}

void loop() {
  packageReply();
  getData();
  showData();
}

void packageReply() {

  sent_1.gyro_x  = 4;
  sent_1.gyro_y = 5;
  sent_1.gyro_z = 6;

  Serial.print(package.x);
  Serial.print("  ");
  Serial.print(package.y);
  Serial.print("  ");
  Serial.println(package.z);

}

void getData() {
  if ( radio.available()  ) {
    radio.read( &package, sizeof(package) );
    updateReplyData();
    newData = true;
  }
}

//================

void showData()  {
  if (newData == true) {
    Serial.print("Data received ");
    Serial.println(dataReceived);
    Serial.print(" ackPayload sent ");
    Serial.print(package.x);
    Serial.print(",  ");
    Serial.println(sent_1.gyro_x);
    newData = false;
  }
}

//================

void  updateReplyData() {
  radio.writeAckPayload(1, &sent_1, sizeof(sent_1)); // load  the payload for the next time
}

Downloadable files

Teensy 4.0

Use this to connect the necessary pins to the NRF24, notice how there are no CE or CSN pin, these are specified in the code.

Teensy 4.0

NRF24 Pinout

Follow this to connect the pins to the necessary pins on the teensy or Arduino

NRF24 Pinout

Arduino Pinout

Use this to connect the necessary pins to the NRF24, notice how there are no CE or CSN pin, these are specified in the code.

Arduino Pinout

Teensy 4.0

Use this to connect the necessary pins to the NRF24, notice how there are no CE or CSN pin, these are specified in the code.

Teensy 4.0

NRF24 Pinout

Follow this to connect the pins to the necessary pins on the teensy or Arduino

NRF24 Pinout

Arduino Pinout

Use this to connect the necessary pins to the NRF24, notice how there are no CE or CSN pin, these are specified in the code.

Arduino Pinout

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