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/* |
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/* |
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RF02 TX duckweed collector |
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RF02 TX duckweed collector |
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|
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|
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in arduino version 022 |
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in arduino version 022 |
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|
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|
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tested with MLAB modules with ATmega 328 at 16MHz |
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tested with MLAB modules with ATmega 328 at 16MHz |
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see RF02 library for a Band and Frequency |
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see RF02 library for a Band and Frequency |
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*/ |
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*/ |
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|
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|
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//connections RF01: (RX) |
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//connections RF01: (RX) |
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// RF01 SDI, arduino 13, ATmega PB5, cannot be changed |
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// RF01 SDI, arduino 13, ATmega PB5, cannot be changed |
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// RF01 SCK, arduino 12, ATmega PB4, cannot be changed |
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// RF01 SCK, arduino 12, ATmega PB4, cannot be changed |
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// RF01 nSEL, arduino 11, ATmega PB3, cannot be changed |
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// RF01 nSEL, arduino 11, ATmega PB3, cannot be changed |
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// RF01 SDO, arduino 10, ATmega PB2, cannot be changed |
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// RF01 SDO, arduino 10, ATmega PB2, cannot be changed |
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// RF01 niRQ, arduino 02, ATmega PD2, cannot be changed |
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// RF01 niRQ, arduino 02, ATmega PD2, cannot be changed |
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// RF01 nFFS: 1-10k Pullup too Vcc |
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// RF01 nFFS: 1-10k Pullup too Vcc |
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// receiving words with RF01 |
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// receiving words with RF01 |
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|
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#include <RF01.h> |
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#include <RF01.h> |
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#include <Servo.h> |
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#include <Servo.h> |
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|
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|
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Servo servo_motor; |
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Servo servo_motor; |
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Servo servo_rudder; |
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Servo servo_rudder; |
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|
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void setup() |
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void setup() |
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{ |
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{ |
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Serial.begin(9600); |
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Serial.begin(9600); |
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Serial.println("\nRFM01 init"); |
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Serial.println("\nRFM01 init"); |
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delay(250); |
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delay(250); |
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|
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|
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servo_motor.attach(3); |
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servo_motor.attach(3); |
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servo_rudder.attach(4); |
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servo_rudder.attach(4); |
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|
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|
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rf01_prepAll(); |
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rf01_prepAll(); |
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Serial.println("done"); |
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Serial.println("done"); |
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} |
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} |
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|
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void loop() |
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void loop() |
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{ |
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{ |
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int n; |
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int n; |
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unsigned int Motor, Rudder, Check, Check2; |
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unsigned char Motor, Rudder, Check, Check2; |
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|
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char* buf = (char*) _rx_buffer; |
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char* buf = (char*) _rx_buffer; |
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rf01_rxdata(_rx_buffer, 3); |
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rf01_rxdata(_rx_buffer, 3); |
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Serial.print(buf); |
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// Serial.print(buf); |
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Serial.print(' '); |
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// Serial.print(' '); |
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|
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|
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Motor=_rx_buffer[0]; |
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Motor=_rx_buffer[0]; |
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Motor-=(Motor>'9')?('a'-10):'0'; |
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|
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Serial.print(Motor, DEC); Serial.print(' '); |
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// Serial.print(Motor, DEC); Serial.print(' '); |
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Rudder=_rx_buffer[1]; |
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Rudder=_rx_buffer[1]; |
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Rudder-=(Rudder>'9')?('a'-10):'0'; |
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|
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Serial.print(Rudder, DEC); Serial.print(' '); |
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// Serial.print(Rudder, DEC); Serial.print(' '); |
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Check=_rx_buffer[2]; |
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Check=_rx_buffer[2]; |
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Check-=(Check>'9')?('a'-10):'0'; |
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|
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Serial.print(Check, DEC); Serial.print(' '); |
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// Serial.print(Check, DEC); Serial.print(' '); |
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|
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|
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Check2=Motor+Rudder; |
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Check2=Motor+Rudder; |
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if (Check2>32) Check2-=32; |
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if (Check!=Check2) |
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if (Check!=Check2) |
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{ |
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{Serial.print(' Error');} |
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// {Serial.print(Check2,DEC);} |
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} |
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else |
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else |
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{ |
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{ |
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servo_motor.write(Motor); |
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servo_motor.write(Motor+45); |
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servo_rudder.write(Rudder); |
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servo_rudder.write(Rudder/2+45); |
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} |
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} |
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|
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delay(15); |
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Serial.println(); |
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// Serial.println(); |
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} |
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} |