Jlinker_Nrf_joystick_control.ino

Jlinker_Nrf_joystick_control.ino

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include "U8glib.h"
#include <Wire.h> //I2C Arduino Library
#include "I2Cdev.h"
#include "MPU6050.h"
#define Joy1X A0
#define Joy1Y A1
#define Joy2X A2
#define Joy2Y A3
#define POT_1 A6
#define POT_2 A7
#define Buton_1 0
#define Buton_2 1
#define Buton_3 2
#define Buton_4 3
#define Joy1But 4
#define Joy2But 5
#define SW_1 6
#define SW_2 7
#define User_LED 8
#define address 0x1E //0011110b, I2C 7bit address of HMC5883
U8GLIB_SSD1306_128X64 u8g(U8G_I2C_OPT_NONE | U8G_I2C_OPT_DEV_0);
MPU6050 accelgyro;
int16_t ax, ay, az;
int16_t gx, gy, gz;
int bsd = 0;
char bufferX [20];
char bufferY [20];
char bufferZ [20];
int transmit[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
int distance;

int buton_j1 = 0, buton_j2 = 0, buton_1 = 0, buton_2 = 0, buton_3 = 0, buton_4 = 0,
    switch_1 = 0, switch_2 = 0, joy1_x = 0, joy1_y = 0, joy2_x = 0, joy2_y = 0, pot_1 = 0, pot_2 = 0;

RF24 JOYSTICK(9, 10); // CE, CSN
const byte nrf_address[][6] = {"00001", "00002"};

void setup() {
  JOYSTICK.begin();
  JOYSTICK.openWritingPipe(nrf_address[1]); // 00002
  JOYSTICK.openReadingPipe(1, nrf_address[0]); // 00001
  JOYSTICK.setPALevel(RF24_PA_MIN);
  JOYSTICK.stopListening();
  Serial.begin(9600);
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
  Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
  Fastwire::setup(400, true);
#endif
  accelgyro.initialize();
  pinMode(Joy1X, INPUT);
  pinMode(Joy1Y, INPUT);
  pinMode(Joy2X, INPUT);
  pinMode(Joy2Y, INPUT);
  pinMode(POT_1, INPUT);
  pinMode(POT_2, INPUT);
  pinMode(Joy1But, INPUT_PULLUP);
  pinMode(Joy2But, INPUT_PULLUP);
  pinMode(Buton_1, INPUT_PULLUP);
  pinMode(Buton_2, INPUT_PULLUP);
  pinMode(Buton_3, INPUT_PULLUP);
  pinMode(Buton_4, INPUT_PULLUP);
  pinMode(SW_1, INPUT);
  pinMode(SW_2, INPUT);
  pinMode(User_LED , OUTPUT);
  digitalWrite(User_LED , HIGH);
  Serial.println("Testing device connections...");
  Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050 connection failed");
}
void loop() {

  ValueRead();
  Decide();
  accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
  JOYSTICK.write(&transmit, sizeof(transmit));

  
  sprintf(bufferX, " Robolink Market   ");
  sprintf(bufferY, "     Jlinker ");
  sprintf(bufferZ, "    Rodeo-2.4G");
  u8g.firstPage();
  do {
    draw();
  } while ( u8g.nextPage() );

  delay(5);

}
void ValueRead()
{
  joy1_x = analogRead(Joy1X);
  joy1_y = analogRead(Joy1Y);
  joy2_x = analogRead(Joy2X);
  joy2_y = analogRead(Joy2Y);
  pot_1 = analogRead(POT_1);
  pot_2 = analogRead(POT_2);
  buton_j1 = digitalRead(Joy1But);
  buton_j2 = digitalRead(Joy2But);
  buton_1 = digitalRead(Buton_1);
  buton_2 = digitalRead(Buton_2);
  buton_3 = digitalRead(Buton_3);
  buton_4 = digitalRead(Buton_4);
  switch_1 = digitalRead(SW_1);
  switch_2 = digitalRead(SW_2);
}
int Decide()
{
  for (int i = 0; i <= 9; i++)
    transmit[i] = 0;
  if (switch_1 == 1 && switch_2 == 1)//Çizgi
  {
    transmit[0] = 1;
  }


  if (switch_1 == 0 && switch_2 == 1)//Işık
  { transmit[1] = 1;
  }
  if (switch_1 == 1 && switch_2 == 0)//Engel
  { transmit[2] = 1;
  }

  if (switch_1 == 0 && switch_2 == 0) //Manuel
  {
    if ( joy2_y > 530) //ileri
    { transmit[3] = 1;
    }

    if ( joy2_y < 370) //geri
    { transmit[4] = 1;
    }
    if (joy1_x > 550 ) //sağ
    { transmit[5] = 1;
    }
    if (joy1_x < 490) // sol
    { transmit[6] = 1;
    }

  }
  if (buton_3 == 0 ) //hızlı
  { transmit[7] = 1;
  }
  if (buton_4 == 0 ) //buzzer
  { transmit[8] = 1;
  }
  if (buton_1 == 0 && buton_2 == 0 )
  {
    ValueRead();

    if (ay < -3000) //ileri
    { transmit[3] = 1;
    }
    if (ay > 5000) // geri
    { transmit[4] = 1;
    }
    if ( ax < -4500) //sağ
    {
      transmit[6] = 1;
    }

    if ( ax > 4000) //sol
    { transmit[5] = 1;
    }
  }
  transmit[9] = map(pot_2, 0, 1023, 255, 0);
}
void draw(void) {
  u8g.setFont(u8g_font_unifont);
  u8g.drawStr( 0, 20, bufferX);
  u8g.drawStr( 0, 40, bufferY);
  u8g.drawStr( 0, 60, bufferZ);
}