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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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in arduino version 022 |
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in arduino version 022 |
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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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//connections RF02: (TX) |
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//connections RF02: (TX) |
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// SDI, -> RF02 Atmega PB0 Arduino 8 cannot be changed |
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// SDI, -> RF02 Atmega PB0 Arduino 8 cannot be changed |
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// SCK, -> RF02 Atmega PB1 Arduino 9 cannot be changed |
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// SCK, -> RF02 Atmega PB1 Arduino 9 cannot be changed |
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// nSEL, -> RF02 Atmega PB2 Arduino 10 cannot be changed |
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// nSEL, -> RF02 Atmega PB2 Arduino 10 cannot be changed |
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// nIRQ, <- RF02 Atmega PB4 Arduino 12 cannot be changed |
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// nIRQ, <- RF02 Atmega PB4 Arduino 12 cannot be changed |
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// FSK: Pullupto VCC |
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// FSK: Pullupto VCC |
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#include <RF02.h> |
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#include <RF02.h> |
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unsigned int MotorOffset; |
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unsigned int MotorOffset; |
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unsigned int RudderOffset; |
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unsigned int RudderOffset; |
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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("\nSTM02 init" ); |
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Serial.println("\nSTM02 init" ); |
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MotorOffset = analogRead(A0); |
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MotorOffset = analogRead(A0); |
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RudderOffset = analogRead(A1); |
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RudderOffset = analogRead(A1); |
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rf02_prepAll(); |
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rf02_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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void loop() |
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void loop() |
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{ |
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{ |
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unsigned char _tx_buffer[]="mrc"; |
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unsigned char _tx_buffer[]="mrc"; |
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unsigned int Motor; |
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unsigned int Motor; |
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unsigned int Rudder; |
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unsigned int Rudder; |
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unsigned char Check; |
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unsigned char Check; |
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signed int ble; |
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signed int ble; |
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Motor = analogRead(A0); |
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Motor = analogRead(A0); |
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Rudder = analogRead(A1); |
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Rudder = analogRead(A1); |
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//!!! |
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Serial.print(Motor, DEC); |
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Serial.print(" * "); |
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Serial.println(Rudder, DEC); |
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Motor = MotorOffset - Motor; |
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Motor = MotorOffset - Motor; |
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Rudder=1023-Rudder; |
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Rudder = 512 - ((RudderOffset - Rudder)<<2); |
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Rudder = 512 - ((RudderOffset - Rudder)<<2); |
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Motor>>=2; |
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Motor>>=2; |
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Rudder>>=2; |
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Rudder>>=2; |
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if (Motor>200) Motor=0; |
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if (Motor>200) Motor=0; // Odstranit pro programovani regulatoru |
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if (Rudder>250) Rudder=0; |
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if (Rudder>250) Rudder=0; |
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//if (Rudder<71) Rudder=71; |
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Check=Motor+Rudder; |
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Check=Motor+Rudder; |
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_tx_buffer[0]=(unsigned char)Motor; |
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_tx_buffer[0]=(unsigned char)Motor; |
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_tx_buffer[1]=(unsigned char)Rudder; |
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_tx_buffer[1]=(unsigned char)Rudder; |
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_tx_buffer[2]=Check; |
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_tx_buffer[2]=Check; |
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rf02_txdata( _tx_buffer, sizeof(_tx_buffer)); |
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rf02_txdata( _tx_buffer, sizeof(_tx_buffer)); |
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} |
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} |
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