RC_Boat_bluetooth/remote_controler/remote_controler.ino

//player1,remote controler
#include<SPI.h>
#include<SoftwareSerial.h>
//RF24 radio(7,8);//端口可能要改
bool flag=false;
SoftwareSerial sendingSerial(5,6);
SoftwareSerial bluetoothSerial(7,8);
String sending="",received="";
const int Rp=3,Rr=2,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);
  bluetoothSerial.begin(57600);
  bluetoothSerial.listen();
}
void send(){

  // Serial.println(propeller);
  // Serial.println(rudder);
  // Serial.print("propeller sent ");
  // Serial.println(propeller);
  // Serial.print("rudder sent ");
  // Serial.println(rudder);
  // Serial.println(sending_signal);
 
  //Serial.println(millis()-time);
}
void loop() {
  // put your main code here, to run repeatedly:
  //time=millis();
  //Serial.println("send");
  sending_signal=0;
  propeller=analogRead(Rp);
  rudder=analogRead(Rr);
  propeller=propeller*1.18;
  rudder=rudder*1.18;
  if(propeller>=1000)propeller=999;
  if(rudder>=1000)rudder=999;
  rudder=999-rudder;
  sending_signal+=propeller;
  sending_signal+=rudder*1000;
  sending_signal+=1000000;
  sending=String(sending_signal);
  bluetoothSerial.println(sending);
  //Serial.println(sending);
  delay(interval);
  while(bluetoothSerial.available()>0){
    //Serial.println("available!");
    if(bluetoothSerial.peek()!='\n'){//peek()查看当前字节是不是换行
      received+=(char)bluetoothSerial.read();
      //Serial.println(received);
      //Serial.println("no \n");
    }
    else{
      bluetoothSerial.read();//把换行符读掉
      Serial.println(received);
      sendingSerial.print(received);
      sendingSerial.print('\n');
      received="";
    }
  }
}