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