Receiver part for 2018 Winer Camp "Vessels" project

nRF25L01_Servo_Ctrl_Receiver.ino

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


/* Pins for servo motor */
#define PIN_SERVO 6
Servo s;

/* Pins for nrf25l01 as receiver*/
#define PIN_CE 7
#define PIN_CSN 8
#define PIPE_ADDRESS 0xE8E8F0F0E1LL
RF24 rf24(PIN_CE, PIN_CSN);

/* Space to store received data */
int msg[2] = {90, 0};

void setup() {
  /* Serial port setting */
  Serial.begin(9600);

  /* Servo motor setting */
  s.attach(PIN_SERVO);

  /* nRFL01 sensor setting */
  rf24.begin();
  rf24.setPALevel(RF24_PA_MIN);
  rf24.openReadingPipe(1, PIPE_ADDRESS);
  rf24.startListening();
}

void dump() {
  Serial.print("msg[0]: ");
  Serial.print(msg[0]);  
  Serial.print("\t msg[1]: ");
  Serial.println(msg[1]);    
}


void action(int steering, int delta) {
  s.write(steering - delta);
  delay(100);
  s.write(steering + delta);
  delay(100);
}

void loop() {
  if(rf24.available()) {
    rf24.read(&msg, sizeof(int) * 2);
    int steering = msg[0];
    int delta = msg[1];
  }
  dump();
  action(msg[0], msg[1]);                                
  delay(100);
}