ship new protocol

ship/ship.ino

@@ -9,8 +9,8 @@ Servo MyServo;
 Servo RidaServo;
 RF24 radio(7,8);
 int count =0; 
-int IN1 =7;
+int IN1 =9;
-int IN2 = 8;
+int IN2 =10;
 int PWM=6;
 int TrigPin=2;
 int EcoPin=3;
@@ -21,27 +21,12 @@ float dist;
 long dj,z;//dj是舵机，z是螺旋桨转速
 //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）
 //long s_propeller=0,s_rudder=0;//发送的信号
-const long R_prop=5,R_rudd=6;//输出端口
+long propeller,rudder,content;//校验序列、读取内容和解码内容 
-long check_array[7],content,after_decode;//校验序列、读取内容和解码内容 
 const byte addresses[6] = "00001";  //创建一个数组，建立接收机地址，或者说两个模块将用于通信的“管道”
 
-long decode_and_confirm(long x){
+
-  long sum=0,add=0,x1=x;
-  while(x1!=0){
-    check_array[add]=x1%10;
-    x1/=10;
-    add++;
-  }
-  for(long i=0,j=4;i<add;j--,i++){
-    sum+=check_array[i]*j;
-  }
-  if(sum%10==check_array[4])
-  return -1;//代表校验失败
-  return x%10000;
-}
 void setup()
 {
-  
     Serial.begin(9600);
     MyServo.attach(4);
     RidaServo.attach(5);
@@ -58,24 +43,25 @@ void setup()
   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.setChannel(0);
     delay(1000);
+    MyServo.write(45);
+}
+long confirm(long x){
+  if(x>=1000000&&x<=2000000)return x%1000000;
+  else return -1;
 }
-
 void loop() {
-  //Serial.println(sizeof(long));
+   
-  analogWrite(PWM,0);
+   
      radio.startListening();
    //  Serial.println("start listening!");
-
+ /*if(angle<=0){
-  
-  if(angle<=0){
     dAngle=5;
   }
   else if(angle>=180){
     dAngle=-5;
   }
-  angle=angle+dAngle;
+  /*angle=angle+dAngle;
   RidaServo.write(angle);
   digitalWrite(TrigPin,LOW);
   delayMicroseconds(8);
@@ -88,74 +74,76 @@ void loop() {
   }
   if(dist/17<period){
     delay(period-dist/17);
-  }  
+  }  */
   radio.startListening();
 //  Serial.println("start listening!");
   if(radio.available()>0){
    radio.read(&content,sizeof(content));
     Serial.println("The content is");
     Serial.println(content);//调试
-    after_decode=decode_and_confirm(content);
+    content=confirm(content);
-    Serial.println(after_decode);
+    if(content!=-1){
-    if(after_decode!=-1&&content>=100000){
+     propeller=content%1000;
-      if(content<200000){
+     rudder=(content-propeller)/1000;
-        Serial.println("inputing propeller ");
+     if(propeller>550||propeller<449)
-        if(after_decode>600||after_decode<500){
+     {
-          if(after_decode>600){ 
+      if(propeller>550)
-            long zheng=after_decode;
+      { 
+       long zheng=0.568*propeller-312.4;
        digitalWrite(IN2,HIGH);
        digitalWrite(IN1,LOW);
        analogWrite(PWM,zheng);
-            delay(50);
+       z=zheng;
-            z=zheng-512;
        Serial.println("forward propelling");
        Serial.println(z);
        }
-          else if(after_decode<500){
+     else if(propeller<449)
-            long fan=1100-after_decode;
+      {
+      long fan=255-0.568*propeller;
       digitalWrite(IN1,HIGH);
       digitalWrite(IN2,LOW);
       analogWrite(PWM,fan);
-            delay(50);
+      z=fan;
-            z=fan-512;
       Serial.println("back propelling");
       Serial.println(z);
       }
     }
-        else if(after_decode<=600||after_decode>=500){
+     else if(propeller<=550||propeller>=449)
+      {
       z=0;
+      analogWrite(PWM,0);
       Serial.println("stop propelling");
       Serial.println(z);
       } 
-      } 
-      else{
       Serial.println("inputing ruddering");
-        if(after_decode>600||after_decode<500){
+      if(rudder>550||rudder<449)
-          if(after_decode<500){
+      {
-            long fan1=0.18*after_decode;
+        if(rudder<449)
-            MyServo.write(fan1/2);
+        {
-            delay(150);
+        long fan1=0.1*rudder;
-            dj=fan1-90;
+        MyServo.write(fan1);
         Serial.println("turn left");
+        dj=2*fan1-90;
         Serial.println(dj);
         }
-          else if(after_decode>600){
+        else if(rudder>550)
-            long zheng1=0.22*after_decode-42;
+        {
-            MyServo.write(zheng1/2);
+        long zheng1=0.1*rudder-10.122;
-            delay(150);
+        MyServo.write(zheng1);
-            dj=zheng1-90;
+        dj=2*zheng1-90;
         Serial.println("turn right");
         Serial.println(dj);
         }
       } 
-        else if(after_decode<=600||after_decode>=500){
+      else if(rudder<=550||rudder>=449)
+      {
        dj=0;
+       MyServo.write(45);
        Serial.println("stop turing");
        Serial.println(dj);
       }
     }
    }
-  }
  // radio.stopListening();
   //radio.write(&dist,sizeof(dist));
  // radio.write(&dj,sizeof(dj));