69 lines
1.9 KiB
C++
69 lines
1.9 KiB
C++
//player1,remote controler
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#include<SPI.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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bool flag=false;
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SoftwareSerial sendingSerial(5,6);
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SoftwareSerial bluetoothSerial(7,8);
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String sending="",received="";
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const int Rp=3,Rr=2,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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bluetoothSerial.begin(57600);
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bluetoothSerial.listen();
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}
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void send(){
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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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//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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//time=millis();
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//Serial.println("send");
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sending_signal=0;
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propeller=analogRead(Rp);
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rudder=analogRead(Rr);
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propeller=propeller*1.18;
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rudder=rudder*1.18;
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if(propeller>=1000)propeller=999;
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if(rudder>=1000)rudder=999;
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rudder=999-rudder;
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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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sending=String(sending_signal);
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bluetoothSerial.println(sending);
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//Serial.println(sending);
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delay(interval);
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while(bluetoothSerial.available()>0){
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//Serial.println("available!");
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if(bluetoothSerial.peek()!='\n'){//peek()查看当前字节是不是换行
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received+=(char)bluetoothSerial.read();
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//Serial.println(received);
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//Serial.println("no \n");
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}
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else{
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bluetoothSerial.read();//把换行符读掉
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Serial.println(received);
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sendingSerial.print(received);
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sendingSerial.print('\n');
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received="";
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}
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}
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}
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