#include<SPI.h>
#include<nRF24L01.h>
#include<RF24.h>
#include "Arduino.h"
#include "HardwareSerial.h"
#include<Servo.h>

Servo MyServo;
Servo RidaServo;
RF24 radio(7,8);
int count =0; 
int IN1 =9;
int IN2 =10;
int PWM=6;
int TrigPin=2;
int EcoPin=3;
int dAngle=5;
int angle=90;
int period=25;
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
long propeller,rudder,content;//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”


void setup()
{
    Serial.begin(9600);
    MyServo.attach(4);
    RidaServo.attach(5);
    pinMode(TrigPin,OUTPUT);
    pinMode(EcoPin,INPUT);
    pinMode(IN1,OUTPUT);
    pinMode(IN2,OUTPUT);
    pinMode(PWM,OUTPUT);
    pinMode(A1,INPUT);
    pinMode(A2,INPUT);
    MyServo.write(angle);
  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
    delay(1000);
    MyServo.write(45);
}
long confirm(long x){
  if(x>=1000000&&x<=2000000)return x%1000000;
  else return -1;
}
void loop() {
   
   
     radio.startListening();
   //  Serial.println("start listening!");
 /*if(angle<=0){
    dAngle=5;
  }
  else if(angle>=180){
    dAngle=-5;
  }
  /*angle=angle+dAngle;
  RidaServo.write(angle);
  digitalWrite(TrigPin,LOW);
  delayMicroseconds(8);
  digitalWrite(TrigPin,HIGH);
  delayMicroseconds(10);
  digitalWrite(TrigPin,LOW);
  dist=pulseIn(EcoPin,HIGH,58800)/58.8;
  if(dist<=0.5){
    dist=100.0;
  }
  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
    content=confirm(content);
    if(content!=-1){
     propeller=content%1000;
     rudder=(content-propeller)/1000;
     if(propeller>550||propeller<449)
     {
      if(propeller>550)
      { 
       long zheng=0.568*propeller-312.4;
       digitalWrite(IN2,HIGH);
       digitalWrite(IN1,LOW);
       analogWrite(PWM,zheng);
       z=zheng;
       Serial.println("forward propelling");
       Serial.println(z);
       }
     else if(propeller<449)
      {
      long fan=255-0.568*propeller;
      digitalWrite(IN1,HIGH);
      digitalWrite(IN2,LOW);
      analogWrite(PWM,fan);
      z=fan;
      Serial.println("back propelling");
      Serial.println(z);
      }
    }
     else if(propeller<=550||propeller>=449)
      {
      z=0;
      analogWrite(PWM,0);
      Serial.println("stop propelling");
      Serial.println(z);
      } 
      Serial.println("inputing ruddering");
      if(rudder>550||rudder<449)
      {
        if(rudder<449)
        {
        long fan1=0.1*rudder;
        MyServo.write(fan1);
        Serial.println("turn left");
        dj=2*fan1-90;
        Serial.println(dj);
        }
        else if(rudder>550)
        {
        long zheng1=0.1*rudder-10.122;
        MyServo.write(zheng1);
        dj=2*zheng1-90;
        Serial.println("turn right");
        Serial.println(dj);
        }
      } 
      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));
  //radio.write(&z,sizeof(z));
  //radio.startListening();
  //delay(20);
 /* if (radio.available()) {  //判断是否有要接收的数据
    radio.read(response,sizeof(response));
    Serial.print(text);
    Serial.println(response);
  }*/
  //delay(20);  //延迟等待0.3秒 
  //text++;
}