59 lines
1.7 KiB
Arduino
59 lines
1.7 KiB
Arduino
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//player1,remote controler
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#include<SPI.h>
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#include<nRF24L01.h>
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#include<RF24.h>
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#include<TimerOne.h>
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RF24 radio(7,8);//端口可能要改
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const int Rp=0,Rr=1,interval=20;//Rp,Rr 分别为两个遥杆的接口,间断20ms
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long propeller=0,rudder=0;//propeller为螺旋桨（0-1023，512为静止），rudder为舵（0-1023，512为静止）
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long s_propeller=0,s_rudder=0;//发送的信号
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long check_array[6];
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const byte addresser[6]={"00001"};//创建通信通道地址，6用来写，8用来读
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void setup() {
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// put your setup code here, to run once:
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Serial.begin(9600);
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radio.begin();
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//radio.setChannel(114);//设置信道，114号通道
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radio.openWritingPipe(addresser);//6
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radio.openReadingPipe(1,addresser);//8
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radio.setPALevel(RF24_PA_HIGH);
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Timer1.initialize(interval);
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Timer1.attachInterrupt(Send);
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}
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void Send(){//发送信号函数
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radio.stopListening();
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Serial.println("stop listening!");
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propeller=analogRead(Rp);
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rudder=analogRead(Rr);
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Serial.println(propeller);
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Serial.println(rudder);
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propeller+=create_checknumber(propeller)*10000;
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rudder+=create_checknumber(rudder)*10000;
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propeller+=100000;
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rudder+=200000;
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radio.write(&propeller,sizeof(propeller));
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radio.write(&rudder,sizeof(rudder));
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Serial.print("propeller sent");
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Serial.println(propeller);
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Serial.print("rudder sent");
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Serial.println(rudder);
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}
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long create_checknumber(long x){//创造校验码，校验码规则：个位×4，十位×3，百位×2，千位×1
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long add=0,sum=0;
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while(x!=0){
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check_array[add]=x%10;
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x/=10;
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add++;
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}
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for(int i=0,j=4;i<add;j--,i++){
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sum+=check_array[i]*j;
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}
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return sum%10;
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}
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void loop() {
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// put your main code here, to run repeatedly:
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radio.startListening();
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//读取雷达信息，还未写
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}
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