<aside> ⚠️ This page is a work in progress, some information is subject to change

</aside>

Electronics

• 2s Li-ion
• L298n motor controller
• DC 550-c motor
• MG90s tower pro
• Arduino UNO
• NRF24l01

3D printed parts

coming soon, available on request

Laser cut parts

coming soon, available on request

Base model code

<aside> ⚠️ Code is not finalized. This code will be tested, debugged & notated in the coming days

</aside>

// transmiter V2

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Wire.h>

// Define the radio communication
RF24 radio(8, 9);   // nRF24L01 (CE, CSN)
const byte address[6] = "00001"; // Address

struct Data_Package {
  byte PotX;
  byte PotY;
  byte Button;
};
Data_Package data;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  radio.begin();
  radio.openWritingPipe(address);
  radio.setAutoAck(false);
  radio.setDataRate(RF24_250KBPS);
  radio.setPALevel(RF24_PA_LOW);

  data.PotX = 127; // Values from 0 to 255. When Joystick is in resting position, the value is in the middle, or 127. We actually map the pot value from 0 to 1023 to 0 to 255 because that's one BYTE value
  data.PotY = 127;
}

void loop() {
  // put your main code here, to run repeatedly:
  data.PotX = map(analogRead(A1), 0, 1023, 0, 255); // Convert the analog read value from 0 to 1023 into a BYTE value from 0 to 255
  data.PotY = map(analogRead(A0), 0, 1023, 0, 255);
  data.Button = digitalRead(1);
//  Serial.write("\n");Serial.print(analogRead(A0));Serial.write("\n");Serial.print(analogRead(A1));Serial.write("\n");
//  Serial.write("\n");Serial.print(data.PotY);Serial.write("\n");Serial.print(data.PotX);Serial.write("\n");
  Serial.print(data.PotX);
  Serial.print(",");
  Serial.print(data.PotY);
  Serial.print(",");
  Serial.print("\n");
  radio.write(&data, sizeof(Data_Package));
}

// Reciver V2

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

#define enA 5

#define in1 7
#define in2 6

RF24 radio(8, 9);   // nRF24L01 (CE, CSN)
const byte address[6] = "00001";
unsigned long lastReceiveTime = 0;
unsigned long currentTime = 0;

Servo steering;

int servo1Value = 0;
int motorSpeedA = 0;

// Max size of this struct is 32 bytes - NRF24L01 buffer limit
struct Data_Package {
  byte j1PotX;
  byte j1PotY;
  byte j1Button;
};
Data_Package data; //Create a variable with the above structure
void setup() {
  Serial.begin(9600);
  radio.begin();
  radio.openReadingPipe(0, address);
  radio.setAutoAck(false);
  radio.setDataRate(RF24_250KBPS);
  radio.setPALevel(RF24_PA_LOW);
  radio.startListening(); //  Set the module as receiver
  resetData();
  steering.attach(A5);
  pinMode(enA, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
  Serial.print("\nservo\n");
  for (int i =30; i<=150; i++) {
    steering.write(i);
    Serial.print(i);
    Serial.write("\n");
    delay(5);
  steering.write(servo1Value);
  }
}
void loop() {
  // Check whether we keep receving data, or we have a connection between the two modules
  currentTime = millis();
  if ( currentTime - lastReceiveTime > 1000 ) { // If current time is more then 1 second since we have recived the last data, that means we have lost connection
    resetData(); // If connection is lost, reset the data. It prevents unwanted behavior, for example if a drone jas a throttle up, if we lose connection it can keep flying away if we dont reset the function
    Serial.write("\nlost connection");
  }
  
  // Check whether there is data to be received
  if (radio.available()) {
    radio.read(&data, sizeof(Data_Package)); // Read the whole data and store it into the 'data' structure
    lastReceiveTime = millis();// At this moment we have received the data
    Serial.write("\ngood connection");
  }
  
  Serial.write("\n");
  Serial.print(data.j1PotX);
  Serial.write("\n");
  Serial.print(data.j1PotY);
  Serial.write("\n");
  Serial.print(data.j1Button);
  
  // Controlling servos
  servo1Value = map(data.j1PotX, 0, 255, 30, 150);
  steering.write(servo1Value);
  Serial.write("\n");
  Serial.print(servo1Value);

  //servo test
//  Serial.print("\nservo test\n");
//  for (int i =30; i<=150; i++) {
//    steering.write(i);
//    Serial.print(i);
//    Serial.write("\n");
//    delay(10);
//  }

  //controll motor w l298n
  motorSpeedA = map(data.j1PotY, 0, 255, -240, 240);
  if (motorSpeedA > 50){//go forwards with speed relative to input
    digitalWrite(in1, HIGH);
    digitalWrite(in2, LOW);
    analogWrite(enA, motorSpeedA);
  }
  if (motorSpeedA < 50){//go backwards with speed relative to input
    digitalWrite(in1, LOW);
    digitalWrite(in2, HIGH);
    analogWrite(enA, -motorSpeedA);
  }
  if (50 < motorSpeedA < 50){//stop
    digitalWrite(in1, LOW);
    digitalWrite(in2, LOW);
    analogWrite(enA, 0);
  }
  

//  // Monitor the battery voltage
//  int sensorValue = analogRead(A0);
//  float voltage = sensorValue * (5.00 / 1023.00) * 3; // Convert the reading values from 5v to suitable 12V i
//  Serial.println(voltage);
//  // If voltage is below 11V turn on the LED
//  if (voltage < 11) {
//    digitalWrite(led, HIGH);
//  }
//  else {
//    digitalWrite(led, LOW);
//  }
  
}
void resetData() {
  // Reset the values when there is no radio connection - Set initial default values
  data.j1PotX = 127;
  data.j1PotY = 127;
  data.j1Button = 1;
}