From 209f13c5b4f121092392665ce0b60fff9efc8e7c Mon Sep 17 00:00:00 2001
From: clf3 <smh66ccff@outlook.com>
Date: Fri, 8 Sep 2023 21:41:54 +0800
Subject: [PATCH] fixed some BUGs

---
 remote_controler/remote_controler.ino | 11 ++++++++---
 ship/ship.ino                         |  5 +++--
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/remote_controler/remote_controler.ino b/remote_controler/remote_controler.ino
index e621535..760a84c 100644
--- a/remote_controler/remote_controler.ino
+++ b/remote_controler/remote_controler.ino
@@ -7,11 +7,12 @@
 RF24 radio(7,8);//端口可能要改
 SoftwareSerial sendingSerial(5,6);
 String sending="";
-const int Rp=0,Rr=1,interval=20;//Rp,Rr 分别为两个遥杆的接口
+const int Rp=0,Rr=1,interval=100;//Rp,Rr 分别为两个遥杆的接口
 long propeller=0,rudder=0,dist;//propeller为螺旋桨（0-1023，512为静止），rudder为舵（0-1023，512为静止）
 long sending_signal=0;//发送的信号
 long response=0;
 const byte addresser[6]={"00001"};//创建通信通道地址，6用来写，8用来读
+long time=0;
 void setup() {
   Serial.begin(9600);
   sendingSerial.begin(38400);
@@ -19,12 +20,14 @@ void setup() {
   //radio.setChannel(114);//设置信道，114号通道
   radio.openWritingPipe(addresser);
   radio.openReadingPipe(1,addresser);
-  radio.setPALevel(RF24_PA_HIGH);
+  radio.setPALevel(RF24_PA_MIN);
   Timer1.initialize(interval);
   Timer1.attachInterrupt(send);
   radio.startListening();
 }
 void send(){
+  time=millis();
+  //Serial.println("send");
   sending_signal=0;
   radio.stopListening();
   propeller=analogRead(Rp);
@@ -43,11 +46,13 @@ void send(){
   // Serial.println(rudder);
   // Serial.println(sending_signal);
   radio.startListening();
+  //Serial.println(millis()-time);
 }
 void loop() {
   // put your main code here, to run repeatedly:
+  Serial.println("loop");
   if(radio.available()){
-
+    Serial.print("response:");
     radio.read(&response,sizeof(response));
     Serial.println(response);
     if(response%1000000==1){
diff --git a/ship/ship.ino b/ship/ship.ino
index 6fa10ab..e52aa48 100644
--- a/ship/ship.ino
+++ b/ship/ship.ino
@@ -59,12 +59,13 @@ void setup()
   pinMode(A1,INPUT);
   pinMode(A2,INPUT);
   MyServo.write(angle);
+  
   RadarServo.write(0);
   radio.begin();
   //radio.setChannel(114);
   radio.openReadingPipe(1,addresses);   //接收通道，
   radio.openWritingPipe(addresses);//发送通道
-  radio.setPALevel(RF24_PA_HIGH);   //设置功率放大器级别，将其设置为最小值
+  radio.setPALevel(RF24_PA_MIN);   //设置功率放大器级别，将其设置为最小值
   delay(1000);
   MyServo.write(45);
 }
@@ -178,7 +179,7 @@ void loop() {
     //send clear
     response=2000000;
   }
-  radio.write(response,sizeof(response));
+  radio.write(&response,sizeof(response));
   //delay(20-distance/17);
   Serial.println(distance);
 }