Can someone tell me what I am doing wrong?
Code: Select all
//Robot Code
#include <Wire.h>
#include <Adafruit_MotorShield.h>
#include <RFM69.h> //get it here: https://www.github.com/lowpowerlab/rfm69
#include <SPI.h>
#define NETWORKID 100 //the same on all nodes that talk to each other
#define NODEID 1
#define FREQUENCY RF69_915MHZ
#define ENCRYPTKEY "codeOn1234567890" //exactly the same 16 characters/bytes on all nodes!
#define IS_RFM69HCW true // set to 'true' if you are using an RFM69HCW module
#define SERIAL_BAUD 9600
#define RFM69_CS 10
#define RFM69_IRQ 2
#define RFM69_IRQN 0 // Pin 2 is IRQ 0!
#define RFM69_RST 9
RFM69 radio = RFM69(RFM69_CS, RFM69_IRQ, IS_RFM69HCW, RFM69_IRQN);
Adafruit_MotorShield AFMS = Adafruit_MotorShield();
Adafruit_DCMotor *motorLeft = AFMS.getMotor(3);
Adafruit_DCMotor *motorRight = AFMS.getMotor(4);
int16_t packetnum = 0; // packet counter, we increment per xmission
char flag = 's';
Adafruit_DCMotor *configureMotor(Adafruit_DCMotor *motor, int power = 0, String direction = "stop"){
if (direction == "forward"){
motor->run(FORWARD);
motor->setSpeed(power);
}
else if (direction == "backward"){
motor->run(BACKWARD);
motor->setSpeed(power);
}
else if (direction == "stop"){
motor->setSpeed(0);
}
else Serial.println("bad command");
return motor;
}
void moveForward(int power, int duration){
motorLeft = configureMotor(motorLeft, power, "forward");
motorRight = configureMotor(motorRight, power, "backward");
}
void moveBack(int power, int duration){
Serial.print("b");
motorLeft = configureMotor(motorLeft, power, "backward");
motorRight = configureMotor(motorRight, power, "forward");
}
void moveStop(int duration){
motorLeft = configureMotor(motorLeft, "stop");
motorRight = configureMotor(motorRight, "stop");
}
void setup() {
Serial.begin(SERIAL_BAUD);
AFMS.begin();
// Hard Reset the RFM module
pinMode(RFM69_RST, OUTPUT);
digitalWrite(RFM69_RST, HIGH);
delay(100);
digitalWrite(RFM69_RST, LOW);
delay(100);
// Initialize radio
radio.initialize(FREQUENCY,NODEID,NETWORKID);
radio.setPowerLevel(31); // power output ranges from 0 (5dBm) to 31 (20dBm)
radio.encrypt(ENCRYPTKEY);
//Turn motors off
motorRight = configureMotor(motorRight, "stop");
motorLeft = configureMotor(motorLeft, "stop");
}
void loop() {
Serial.print((char*)radio.DATA);
radio.receiveDone(); //put radio in RX mode
Serial.flush(); //make sure all serial data is clocked out before sleeping the MCU
Serial.print("\n");
if ((char)radio.DATA[1] == '0' && flag == 'g'){
Serial.print(flag);
Serial.print("button 1");
moveForward(200, 10000);
}
else if ((char)radio.DATA[2] == '0'){
Serial.print("button 2");
moveBack(100, 100);
}
else moveStop(1);
}
Code: Select all
//Controller code
#include <RFM69.h>
#include <SPI.h>
#define NETWORKID 100 // The same on all nodes that talk to each other
#define NODEID 2 // The unique identifier of this node
#define RECEIVER 1 // The recipient of packets
#define FREQUENCY RF69_915MHZ
#define ENCRYPTKEY "codeOn1234567890" //exactly the same 16 characters/bytes on all nodes!
#define IS_RFM69HCW true // set to 'true' if you are using an RFM69HCW module
//*********************************************************************************************
#define SERIAL_BAUD 9600
#define RFM69_CS 8
#define RFM69_IRQ 7
#define RFM69_IRQN 4 // Pin 7 is IRQ 4!
#define RFM69_RST 4
#define LED 13 // onboard blinky
int button = A0;
int16_t packetnum = 0; // packet counter, we increment per xmission
/***Testing***/
int forward = A5;
int back = A4;
RFM69 radio = RFM69(RFM69_CS, RFM69_IRQ, IS_RFM69HCW, RFM69_IRQN);
void setup() {
pinMode(button, INPUT_PULLUP);
pinMode(forward, INPUT_PULLUP);
pinMode(back, INPUT_PULLUP);
Serial.begin(SERIAL_BAUD);
pinMode(RFM69_RST, OUTPUT);
digitalWrite(RFM69_RST, HIGH);
delay(100);
digitalWrite(RFM69_RST, LOW);
delay(100);
// Initialize radio
radio.initialize(FREQUENCY, NODEID, NETWORKID);
if (IS_RFM69HCW) {
radio.setHighPower(); // Only for RFM69HCW & HW!
}
radio.setPowerLevel(31); // power output ranges from 0 (5dBm) to 31 (20dBm)
radio.encrypt(ENCRYPTKEY);
pinMode(LED, OUTPUT);
}
void loop() {
delay(500); // Wait 1 second between transmits, could also 'sleep' here!
char radiopacket[25] = "[000 000 0 0 0 0 0 0]";
if (digitalRead(forward) == HIGH) {radiopacket[1] = '1';}
if (digitalRead(back) == HIGH) {radiopacket[2] = '1';}
radio.receiveDone(); //put radio in RX mode
Serial.flush(); //make sure all serial data is clocked out before sleeping the MCU
}
