70 lines
2.0 KiB
C++
70 lines
2.0 KiB
C++
//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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#include<SoftwareSerial.h>
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RF24 radio(7,8);//端口可能要改
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SoftwareSerial sendingSerial(5,6);
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String sending="";
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const int Rp=0,Rr=1,interval=100;//Rp,Rr 分别为两个遥杆的接口
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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）
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long sending_signal=0;//发送的信号
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long response=0;
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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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long time=0;
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void setup() {
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Serial.begin(9600);
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sendingSerial.begin(38400);
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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);
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radio.openReadingPipe(1,addresser);
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radio.setPALevel(RF24_PA_MIN);
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Timer1.initialize(interval);
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Timer1.attachInterrupt(send);
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radio.startListening();
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}
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void send(){
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time=millis();
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//Serial.println("send");
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sending_signal=0;
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radio.stopListening();
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propeller=analogRead(Rp);
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rudder=analogRead(Rr);
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if(propeller>=1000)propeller=999;
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if(rudder>=1000)rudder=999;
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sending_signal+=propeller;
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sending_signal+=rudder*1000;
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sending_signal+=1000000;
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radio.write(&sending_signal,sizeof(sending_signal));
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// Serial.println(propeller);
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// Serial.println(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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// Serial.println(sending_signal);
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radio.startListening();
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//Serial.println(millis()-time);
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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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Serial.println("loop");
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if(radio.available()){
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Serial.print("response:");
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radio.read(&response,sizeof(response));
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Serial.println(response);
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if(response%1000000==1){
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sending=String(response);
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sendingSerial.print(sending);
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sendingSerial.print('\n');
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}
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else if(response==2000000){
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sending=String(response);
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sendingSerial.print(sending);
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sendingSerial.print('\n');
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}
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}
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}
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