Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen. https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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/*
Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
version 2 as published by the Free Software Foundation.
*/
/**
* Example LED Remote
*
* This is an example of how to use the RF24 class to control a remote
* bank of LED's using buttons on a remote control.
*
* On the 'remote', connect any number of buttons or switches from
* an arduino pin to ground. Update 'button_pins' to reflect the
* pins used.
*
* On the 'led' board, connect the same number of LED's from an
* arduino pin to a resistor to ground. Update 'led_pins' to reflect
* the pins used. Also connect a separate pin to ground and change
* the 'role_pin'. This tells the sketch it's running on the LED board.
*
* Every time the buttons change on the remote, the entire state of
* buttons is send to the led board, which displays the state.
*/
#include <SPI.h>
#include "nRF24L01.h"
#include "RF24.h"
#include "printf.h"
//
// Hardware configuration
//
// Set up nRF24L01 radio on SPI bus plus pins 9 & 10 (CE & CS)
RF24 radio(9,10);
// sets the role of this unit in hardware. Connect to GND to be the 'led' board receiver
// Leave open to be the 'remote' transmitter
const int role_pin = A4;
// Pins on the remote for buttons
const uint8_t button_pins[] = { 2,3,4,5,6,7 };
const uint8_t num_button_pins = sizeof(button_pins);
// Pins on the LED board for LED's
const uint8_t led_pins[] = { 2,3,4,5,6,7 };
const uint8_t num_led_pins = sizeof(led_pins);
//
// Topology
//
// Single radio pipe address for the 2 nodes to communicate.
const uint64_t pipe = 0xE8E8F0F0E1LL;
//
// Role management
//
// Set up role. This sketch uses the same software for all the nodes in this
// system. Doing so greatly simplifies testing. The hardware itself specifies
// which node it is.
//
// This is done through the role_pin
//
// The various roles supported by this sketch
typedef enum { role_remote = 1, role_led } role_e;
// The debug-friendly names of those roles
const char* role_friendly_name[] = { "invalid", "Remote", "LED Board"};
// The role of the current running sketch
role_e role;
//
// Payload
//
uint8_t button_states[num_button_pins];
uint8_t led_states[num_led_pins];
//
// Setup
//
void setup(void)
{
//
// Role
//
// set up the role pin
pinMode(role_pin, INPUT);
digitalWrite(role_pin,HIGH);
delay(20); // Just to get a solid reading on the role pin
// read the address pin, establish our role
if ( digitalRead(role_pin) )
role = role_remote;
else
role = role_led;
//
// Print preamble
//
Serial.begin(115200);
printf_begin();
printf("\n\rRF24/examples/led_remote/\n\r");
printf("ROLE: %s\n\r",role_friendly_name[role]);
//
// Setup and configure rf radio
//
radio.begin();
//
// Open pipes to other nodes for communication
//
// This simple sketch opens a single pipes for these two nodes to communicate
// back and forth. One listens on it, the other talks to it.
if ( role == role_remote )
{
radio.openWritingPipe(pipe);
}
else
{
radio.openReadingPipe(1,pipe);
}
//
// Start listening
//
if ( role == role_led )
radio.startListening();
//
// Dump the configuration of the rf unit for debugging
//
radio.printDetails();
//
// Set up buttons / LED's
//
// Set pull-up resistors for all buttons
if ( role == role_remote )
{
int i = num_button_pins;
while(i--)
{
pinMode(button_pins[i],INPUT);
digitalWrite(button_pins[i],HIGH);
}
}
// Turn LED's ON until we start getting keys
if ( role == role_led )
{
int i = num_led_pins;
while(i--)
{
pinMode(led_pins[i],OUTPUT);
led_states[i] = HIGH;
digitalWrite(led_pins[i],led_states[i]);
}
}
}
//
// Loop
//
void loop(void)
{
//
// Remote role. If the state of any button has changed, send the whole state of
// all buttons.
//
if ( role == role_remote )
{
// Get the current state of buttons, and
// Test if the current state is different from the last state we sent
int i = num_button_pins;
bool different = false;
while(i--)
{
uint8_t state = ! digitalRead(button_pins[i]);
if ( state != button_states[i] )
{
different = true;
button_states[i] = state;
}
}
// Send the state of the buttons to the LED board
if ( different )
{
printf("Now sending...");
bool ok = radio.write( button_states, num_button_pins );
if (ok)
printf("ok\n\r");
else
printf("failed\n\r");
}
// Try again in a short while
delay(20);
}
//
// LED role. Receive the state of all buttons, and reflect that in the LEDs
//
if ( role == role_led )
{
// if there is data ready
if ( radio.available() )
{
// Dump the payloads until we've gotten everything
while (radio.available())
{
// Fetch the payload, and see if this was the last one.
radio.read( button_states, num_button_pins );
// Spew it
printf("Got buttons\n\r");
// For each button, if the button now on, then toggle the LED
int i = num_led_pins;
while(i--)
{
if ( button_states[i] )
{
led_states[i] ^= HIGH;
digitalWrite(led_pins[i],led_states[i]);
}
}
}
}
}
}
// vim:ai:cin:sts=2 sw=2 ft=cpp