114 lines
2.6 KiB
C++
114 lines
2.6 KiB
C++
#include <RF24_config.h>
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#include <RF24.h>
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#include <printf.h>
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#include <nRF24L01.h>
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#include <SPI.h>
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#include <RF24.h>
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//TODO Füge alle möglichen bewegungen hinzu
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//TODO Mache es möglich Motoren geschwindigkeit mit analog zu kontolieren
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RF24 radio(7, 8); // (CE, CSN)
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int pwmx;
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int pwmy;
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const byte address[6] = "1RF24";
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struct dataStruct {
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int Xposition;
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int Yposition;
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} myData;
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void setup() {
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Serial.begin(9600);
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radio.begin();
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radio.setPALevel(RF24_PA_MAX);
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radio.setChannel(50);
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radio.openReadingPipe(0, address);
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radio.startListening();
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pinMode(2, OUTPUT);
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pinMode(3, OUTPUT);
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pinMode(4, OUTPUT);
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pinMode(5, OUTPUT);
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pinMode(10, OUTPUT);
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pinMode(11, OUTPUT);
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pinMode(A2, OUTPUT);
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pinMode(A3, OUTPUT);
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pinMode(A4, OUTPUT);
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pinMode(A5, OUTPUT);
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}
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void loop() {
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if (radio.available()) {
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radio.read( &myData, sizeof(myData) );
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Serial.print("Y Pos");
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Serial.println(myData.Yposition);
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Serial.print("X Pos");
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Serial.println(myData.Xposition);
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pwmy=255-(myData.Yposition/4);
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pwmx=255-(myData.Xposition/4);
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if (myData.Yposition >= 700) {
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digitalWrite(3, 1);
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digitalWrite(2, 0);
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digitalWrite(4, 0);
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digitalWrite(5, 1);
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digitalWrite(A3, 1);
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digitalWrite(A2, 0);
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digitalWrite(A4, 0);
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digitalWrite(A5, 1);
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analogWrite(10,pwmy);
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analogWrite(11,pwmx);
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}
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if (myData.Yposition <= 200) {
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digitalWrite(2, 1);
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digitalWrite(3, 0);
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digitalWrite(5, 0);
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digitalWrite(4, 1);
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digitalWrite(A2, 1);
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digitalWrite(A3, 0);
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digitalWrite(A5, 0);
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digitalWrite(A4, 1);
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analogWrite(10,pwmy);
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analogWrite(11,pwmx);
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}
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if (myData.Xposition >= 700){
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digitalWrite(3, 1);
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digitalWrite(2, 0);
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digitalWrite(4, 1);
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digitalWrite(5, 0);
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digitalWrite(A3, 1);
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digitalWrite(A2, 0);
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digitalWrite(A4, 1);
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digitalWrite(A5, 0);
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analogWrite(10,pwmy);
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analogWrite(11,pwmx);
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}
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if (myData.Xposition <= 200){
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digitalWrite(3, 0);
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digitalWrite(2, 1);
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digitalWrite(4, 0);
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digitalWrite(5, 1);
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digitalWrite(A3, 0);
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digitalWrite(A2, 1);
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digitalWrite(A4, 0);
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digitalWrite(A5, 1);
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analogWrite(10,pwmy);
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analogWrite(11,pwmx);
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}
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if (myData.Yposition>200 && myData.Yposition<700 && myData.Xposition>200 && myData.Xposition<700) {
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digitalWrite(2, 0);
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digitalWrite(3, 0);
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digitalWrite(4, 0);
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digitalWrite(5, 0);
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digitalWrite(A3, 0);
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digitalWrite(A2, 0);
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digitalWrite(A4, 0);
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digitalWrite(A5, 0);
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}
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}
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delay(10);
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}
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