The Code

PROJECT 1: Arduino 3D printed RC

Transmitter Code

 /*
 * Khoa Au
 * RC -Transmitter
 */

#include <SPI.h>
#include "RF24.h"
#include <Adafruit_GFX.h>
#include <gfxfont.h>
#include <Adafruit_SSD1306.h>
#define OLED_RESET 4
Adafruit_SSD1306 display(OLED_RESET);

#define NUMFLAKES 10
#define XPOS 0
#define YPOS 1
#define DELTAY 2


#define LOGO16_GLCD_HEIGHT 16
#define LOGO16_GLCD_WIDTH  16
static const unsigned char PROGMEM logo16_glcd_bmp[] =
{ B00000000, B11000000,
  B00000001, B11000000,
  B00000001, B11000000,
  B00000011, B11100000,
  B11110011, B11100000,
  B11111110, B11111000,
  B01111110, B11111111,
  B00110011, B10011111,
  B00011111, B11111100,
  B00001101, B01110000,
  B00011011, B10100000,
  B00111111, B11100000,
  B00111111, B11110000,
  B01111100, B11110000,
  B01110000, B01110000,
  B00000000, B00110000 };


#if (SSD1306_LCDHEIGHT != 32)
#error("Height incorrect, please fix Adafruit_SSD1306.h!");
#endif

RF24 myRadio (7,8);
byte addresses[][6] = {"1Node"};
int package [5];

void setup() {


 
  // put your setup code here, to run once:
  Serial.begin(115200);
  myRadio.begin();  // Start up the physical nRF24L01 Radio
  myRadio.setChannel(108);  // Above most Wifi Channels
  // Set the PA Level low to prevent power supply related issues since this is a
  // getting_started sketch, and the likelihood of close proximity of the devices. RF24_PA_MAX is default.
 // myRadio.setPALevel(RF24_PA_MIN);
  myRadio.setPALevel(RF24_PA_MAX);  // Uncomment for more power
  myRadio.setDataRate(RF24_250KBPS);
  myRadio.openWritingPipe( addresses[0]);


  // by default, we'll generate the high voltage from the 3.3v line internally! (neat!)
  display.begin(SSD1306_SWITCHCAPVCC, 0x3C);  // initialize with the I2C addr 0x3C (for the 128x32)
  // init done
 
  // Show image buffer on the display hardware.
  // Since the buffer is intialized with an Adafruit splashscreen
  // internally, this will display the splashscreen.
  display.display();
  delay(2000);

  // Clear the buffer.
  display.clearDisplay();

  // draw a single pixel
  display.drawPixel(10, 10, WHITE);
  // Show the display buffer on the hardware.
  // NOTE: You _must_ call display after making any drawing commands
  // to make them visible on the display hardware!
  display.display();
  delay(2000);
  display.clearDisplay();
}
/*
 * ***************************************************************************
 * Hardware Initializations Section
 */
void ini(){
  digitalWrite(6,HIGH);
  package[0] = analogRead(A3);//scaling down variables
  package[1] = analogRead(A0);
  package[2] = digitalRead(6);

  //a pin for LCD display
  display.setTextSize(1);
  display.setTextColor(WHITE);
  display.setCursor(10,0);
 //turning on OLED
  //turnDisplay();
 //backwards or forwards on OLED
  //directionDisplay();
  //batteryLevelDisplay();
  //operationModeDisplay();
  myRadio.write( &package, sizeof(package) );//Transmit
 
  display.display();
  display.clearDisplay();
 
}
void loop() {
  // put your main code here, to run repeatedly:
  ini();
  Serial.print(package[0]);
  Serial.print(", ");
  Serial.print(package[1]);
  Serial.print(", ");
  Serial.println(package[2]);

//
}

/*
 * *********************************************************************************
 * OLED DISPLAY SECTION
 */
void turnDisplay(){
  display.drawTriangle(5,6,15,2,15,10, WHITE);//Left Triangle
  display.drawTriangle(25, 2,35, 6,25, 10, WHITE);//Right Triangle
  display.drawRect(17,2,6,9,WHITE);//neutral position
   if (package[0] <300){
    display.fillTriangle(25, 2,35, 6,25, 10, WHITE);
  }else if (package[0] >800){
    display.fillTriangle(5,6,15,2,15,10, WHITE);
  }else {
    display.fillRect(17,2,6,9,WHITE);//neutral position)
  }

  display.print ("               ");}
void directionDisplay(){
  if (package[1] <70){
    display.println("S");
  }else if (package[1] <400){
    display.println("D");
  }else if (package[1] >800){
    display.println("R");
  }else {
    display.println ("N");
  }
}
void batteryLevelDisplay(){
  display.println("");
  display.print("Batt:  ");
  float batt = analogRead(A7); //reading battery level
  float slope = 0.4878;// corresponding values of 4V and 6V analog
  float yIntersect = 374.146;
  float battPercentage = (batt*slope) - yIntersect;
  display.print((int)battPercentage);
  display.println("%");
  //display.print(batt);
  int x_coord =80;
  int shouldFillRect = 30;
  for (int i = 0; i<3;i++){
    display.drawRect(x_coord,17,7,5,WHITE);
   
    if(battPercentage < shouldFillRect){// don't fill this rectangle
    }else {
      display.fillRect(x_coord,17,7,5,WHITE);
    }
    shouldFillRect += 30;
    x_coord+=6;
  }
    display.drawRect(98,18.5,3,3,WHITE);
}
void operationModeDisplay(){
   display.print ("MODE  :");
  if(package[2] == HIGH){
    display.println("ROBOT");
  }else {
    display.println  ("DRIVE");
  }
}
void testdrawtriangle(void) {

}

void testfilltriangle(void) {

}

The Transmitter code

/*
 * Khoa Au
 * RC-Reciever
 */


#include <Servo.h>
#include <SPI.h>   // Comes with Arduino IDE
#include "RF24.h"  // Download and Install (See above)
#define enA 5
Servo myServo;
Servo lServo;
Servo rServo;
RF24 myRadio (7, 8);
/*-----( Declare Variables )-----*/
byte addresses[][6] = {"1Node"}; 
int dataReceived [4];
void setup() {
  // put your setup code here, to run once:
  //myServo.write(80);
  pinMode(6 ,OUTPUT);
  myServo.attach(9);
  lServo.attach (2);
  rServo.attach (3);
  // Use the serial Monitor (Symbol on far right). Set speed to 115200 (Bottom Right)
  Serial.begin(115200);
  Serial.println("hello");
  myRadio.begin();  // Start up the physical nRF24L01 Radio
  myRadio.setChannel(108);  // Above most Wifi Channels
  //myRadio.setPALevel(RF24_PA_MIN);
  myRadio.setPALevel(RF24_PA_MAX);  // Uncomment for more power
  myRadio.setDataRate(RF24_250KBPS);
  myRadio.openReadingPipe(1, addresses[0]); // Use the first entry in array 'addresses' (Only 1 right now)
  myRadio.startListening();

}
void ServoControl(){
    if(dataReceived[0]>600){
      myServo.write(170);
    }else if (dataReceived[0]<400){
      myServo.write(10);
    }else{
      myServo.write(90);
    }
}

void motorControl(){
  
  int spd = dataReceived[1];
  if(spd>600){//forward direction, HIGH HIGH
     analogWrite(enA,80);
     digitalWrite(6,HIGH);
  }else if(spd<400){//backward direction HIGH LOW
     analogWrite(enA,80);
     digitalWrite(6,LOW);
  }else{
      analogWrite(enA,LOW);
      digitalWrite(6,LOW);
  }
  Serial.print(spd);
  Serial.print(",");
}
//control the motor speed
void robotcontrol(){
  int l = dataReceived[0];
  int r = dataReceived[1];
  //-------------------leftHand
   if(l>600){
      lServo.write(170);
    }else if (dataReceived[0]<400){
      lServo.write(30); 
    }else{
      lServo.write(90);
    }
  //-------------------right hand
  if(r>600){
      rServo.write(170);
    }else if (dataReceived[0]<400){
      rServo.write(30);
    }else{
      rServo.write(90);
    }
}
void loop() {
  // put your main code here, to run repeatedly:
  if ( myRadio.available()) // Check for incoming data from transmitter
  {
    while (myRadio.available())  // While there is data ready
    {
      myRadio.read( &dataReceived, sizeof(dataReceived) ); // Get the data payload (You must have defined that already!)
    }
    // DO something with the data, like print it
    Serial.print("Data received = ");
    Serial.print(dataReceived[0]);
    Serial.print("," );
    Serial.println(dataReceived [1]);
    int mode = dataReceived[2];
   // Serial.println(mode);
    if(mode ==1){//drive mode
    ServoControl();
    motorControl();
    
    Serial.print(digitalRead(2));
    Serial.print("   ");
    Serial.println(analogRead(enA));
    }else
    robotcontrol();  
  
  }
}