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November 11, 2019 11:44
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rdeo_nrf24l01_control_example
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#include <dmoto.h> | |
RF24 Nrf(9, 10); | |
dmoto Rodeo; | |
const byte addresses[][6] = {"00001", "00002"}; | |
int received[11] = {}; | |
float ldrRemove = 0; | |
int Speed = 0; | |
void setup() { | |
Rodeo.pinSet(); | |
Nrf.begin(); | |
Nrf.openWritingPipe(addresses[0]); // 00001 | |
Nrf.openReadingPipe(1, addresses[1]); // 00002 | |
Nrf.setPALevel(RF24_PA_MIN); | |
Nrf.startListening(); | |
digitalWrite(ledPin, LOW); | |
Rodeo.Stop(); | |
} | |
void loop() | |
{ | |
Nrf.startListening(); | |
digitalWrite(ledPin, LOW); | |
if (Nrf.available()) | |
{ | |
digitalWrite(ledPin, HIGH); | |
Nrf.read(&received, sizeof(received)); | |
} | |
if (received[0] == 1) | |
{ | |
LineFollower(); | |
} | |
if (received[1] == 1) | |
{ | |
LightTracer(); | |
} | |
if (received[2] == 1) | |
{ | |
Obstructing(); | |
} | |
if (received[3] == 1 && received[5] == 1) | |
{ | |
Rodeo.Left(70, 150); | |
} | |
else if (received[3] == 1 && received[6] == 1) | |
{ | |
Rodeo.Right(150, 70); | |
} | |
else if (received[4] == 1 && received[6] == 1 ) | |
{ | |
Rodeo.BackRight(150, 70); | |
} | |
else if (received[4] == 1 && received[5] == 1 ) | |
{ | |
Rodeo.BackLeft(70, 150); | |
} | |
else if (received[3] == 1) | |
{ | |
Rodeo.Forward(Speed); | |
} | |
else if (received[4] == 1) | |
{ | |
Rodeo.Backward(Speed); | |
} | |
else if (received[5] == 1) | |
{ | |
Rodeo.Left(70, 150); | |
} | |
else if (received[6] == 1) | |
{ | |
Rodeo.Right(150, 70); | |
} | |
if (received[7] == 1) | |
{ | |
Speed = 250; | |
} | |
else | |
Speed = received[9]; | |
if (received[8] == 1) | |
{ | |
digitalWrite(buzzerPin, HIGH); | |
} | |
else | |
{ | |
digitalWrite(buzzerPin, LOW); | |
} | |
if (received[0] == 0 && received[1] == 0 && received[2] == 0 && received[3] == 0 && received[4] == 0 && received[5] == 0 && received[6] == 0 ) | |
{ | |
Rodeo.Stop(); | |
} | |
delay(10); | |
} | |
void LineFollower() | |
{ | |
if (Rodeo.sensor1() == 0 && Rodeo.sensor2() == 1 && Rodeo.sensor3() == 0) | |
{ | |
Rodeo.Forward(80); | |
} | |
if (Rodeo.sensor1() == 1 && Rodeo.sensor2() == 1 && Rodeo.sensor3() == 1) | |
{ | |
Rodeo.Forward(80); | |
} | |
if (Rodeo.sensor1() == 0 && Rodeo.sensor2() == 0 && Rodeo.sensor3() == 0) | |
{ | |
Rodeo.Forward(80); | |
} | |
if (Rodeo.sensor1() == 1 && Rodeo.sensor2() == 0 && Rodeo.sensor3() == 0) | |
{ | |
Rodeo.Right(0, 80); | |
} | |
if (Rodeo.sensor1() == 1 && Rodeo.sensor2() == 1 && Rodeo.sensor3() == 0) | |
{ | |
Rodeo.Right(0, 80); | |
} | |
if (Rodeo.sensor1() == 0 && Rodeo.sensor2() == 0 && Rodeo.sensor3() == 1) | |
{ | |
Rodeo.Left(80, 0); | |
} | |
if (Rodeo.sensor1() == 0 && Rodeo.sensor2() == 1 && Rodeo.sensor3() == 1) | |
{ | |
Rodeo.Left(80, 0); | |
} | |
} | |
void LightTracer() | |
{ | |
ldrRemove = abs(Rodeo.LdrRightValue() - Rodeo.LdrLeftValue()); | |
if (Rodeo.LdrRightValue() > Rodeo.LdrLeftValue() && ldrRemove > 80) | |
{ | |
Rodeo.Left(150, 70); | |
} | |
if (Rodeo.LdrRightValue() < Rodeo.LdrLeftValue() && ldrRemove > 80) | |
{ | |
Rodeo.Right(70, 150); | |
} | |
if (ldrRemove < 80) | |
{ | |
Rodeo.Forward(150); | |
} | |
} | |
void Obstructing() | |
{ | |
if (Rodeo.distance() < 15) | |
{ | |
Rodeo.Backward(Speed); | |
delay(150); | |
Rodeo.Right(0, 150); | |
delay(250); | |
} | |
else | |
{ Rodeo.Forward(Speed); | |
} | |
} |
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