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103 lines
1.9 KiB
103 lines
1.9 KiB
#include <util/delay.h>
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#include <avr/io.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <util/setbaud.h>
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#include <Arduino.h>
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#include <lib.h>
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#include "SoftPWM.h"
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#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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#define CE_PIN 3
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#define CS_PIN 2
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#define RED 4
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#define GREEN 5
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class Radio {
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public:
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RF24 instance;
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};
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class Motor {
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public:
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int power;
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};
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const uint64_t dozer_pipe = 0xF0F0F0F0D2LL;
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const uint64_t remote_pipe = 0xF0F0F0F0E1LL;
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struct StickValues {
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uint32_t stick_1_a;
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uint32_t stick_1_b;
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uint32_t stick_2_a;
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uint32_t stick_2_b;
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};
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int main() {
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pinMode(4, OUTPUT);
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pinMode(5, OUTPUT);
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uart_init();
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SoftPWMBegin();
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RF24 radio(CE_PIN, CS_PIN);
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radio.begin();
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radio.openWritingPipe(dozer_pipe);
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radio.openReadingPipe(1, remote_pipe);
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radio.startListening();
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//digitalWrite(18, HIGH);
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// SoftPWMSet(18, 255, 1);
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digitalWrite(GREEN, HIGH);
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_delay_ms(2000);
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digitalWrite(GREEN, LOW);
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bool breaking = false;
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int cycles = 0;
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while (!breaking) {
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//unsigned long start_wait = micros();
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bool timeout = false;
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while (!radio.available()) {
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if (cycles++ > 10) {
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digitalWrite(RED, HIGH);
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_delay_ms(50);
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digitalWrite(RED, LOW);
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_delay_ms(50);
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timeout = true;
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cycles = 0;
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break;
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}
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}
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if (timeout) {
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// SoftPWMSet(17, 0);
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// SoftPWMSet(18, 0);
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} else {
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StickValues stick_values;
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radio.read(&stick_values, sizeof(uint32_t)*4);
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radio.flush_rx();
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radio.flush_tx();
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// SoftPWMSet(17, stick_values.stick_1_a);
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// SoftPWMSet(18, stick_values.stick_1_b);
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}
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SoftPWMSet(17, 80);
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SoftPWMSet(18, 120);
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}
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}
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