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Here is the code for the NRF24 tutorial. If someone figures out how to add servo control make sure to post an updated version for others to find.
Controller Code
/* NRF24L01 Module Demo Controller Code Pin Assignment D0 D1 D2 D3 D4 D5 D6 D7 Joystick Push Button D8 NRF24 CE D9 D10 NRF24 CSN D11 NRF24 MOSI D12 NRF24 MISO D13 NRF24 SCK A0 Joystick Y Axis A1 Joystick X Axis A2 A3 A4 A5 */ // Define variables int Right_Joy_X = 0x00; int Right_Joy_Y = 0x00; int Right_Joy_X_Old = 0x00; int Right_Joy_Y_Old = 0x00; int Right_Joy_Button = LOW; int Head_Lights = 0; // Include Libraries #include <SPI.h> #include <RH_NRF24.h> RH_NRF24 nrf24; // Create NRF24 object uint8_t command[11]; // Create array for data to be sent uint8_t buf[RH_NRF24_MAX_MESSAGE_LEN]; // Create an array buffer for the NRF24 module void setup() { pinMode(7, INPUT_PULLUP); // Right joystick button // initialize the radio module nrf24.init(); nrf24.setChannel(1); nrf24.setRF(RH_NRF24::DataRate2Mbps, RH_NRF24::TransmitPower0dBm); command[0] = 0x4A; command[1] = 0x44; command[2] = 0x38; command[3] = 0x33; command[4] = 0x06; command[5] = 0x01; } void loop() { Check_Vehicle_ID(); Check_Buttons(); Check_Pots(); } void Check_Vehicle_ID(){ command[0] = 0x4A; // J command[1] = 0x44; // D command[2] = 0x38; // 8 command[3] = 0x33; // 3 } void Check_Buttons(){ // Check Joystick Push Button Right_Joy_Button = digitalRead(7); if (Right_Joy_Button==LOW) { if (Head_Lights == 0){ Head_Lights = 1; command[10]=1; } else if (Head_Lights == 1){ Head_Lights = 0; command[10]=0; } // Wait for switch to be released while (Right_Joy_Button == LOW) { Right_Joy_Button = digitalRead(7); } Send_Data(); } } void Check_Pots(){ Right_Joy_X = analogRead(A1); Right_Joy_X= map(Right_Joy_X, 0, 1024, 0xFF, 0x00); Right_Joy_Y = analogRead(A0); Right_Joy_Y= map(Right_Joy_Y, 0, 1024, 0xFF, 0x00); // Only send data if something has changed, to try an minimise interference if(Right_Joy_X != Right_Joy_X_Old || Right_Joy_Y != Right_Joy_Y_Old){ command[8]=Right_Joy_X; command[9]=Right_Joy_Y; // Send the data Send_Data(); // Store the sent values Right_Joy_X_Old=Right_Joy_X; Right_Joy_Y_Old=Right_Joy_Y; } } // Function to send the data void Send_Data(){ uint8_t buf[RH_NRF24_MAX_MESSAGE_LEN]; uint8_t len = sizeof(buf); nrf24.send(command, sizeof(command)); nrf24.waitPacketSent(); }Receiver Code
/* NRF24L01 Module Demo Receiver Code Pin Assignment D0 D1 D2 D3 D4 LED Pin D5 PWMA D6 AIN1 D7 AIN2 D8 NRF24 CE D9 D10 NRF24 CSN D11 NRF24 MOSI D12 NRF24 MISO D13 NRF24 SCK A0 A1 A2 A3 A4 A5 */ // This section describes the vehicle (this ID is JD83) byte ID1 = 0x4A; // Enter a four byte ID for the vehicle byte ID2 = 0x44; // for example F936 for the Fendt 936 model byte ID3 = 0x38; // would be ID1 = 0x46; ID2 = 0x39; ID3 = 0x33; ID4 = 0x36 byte ID4 = 0x33; // because asci character F is 46 in hexidecimal and so on // Variables used in the program int Move_1 = 125; // Variable used to determine the motor direction byte Command_Val = 0x00; // Stores the command value byte Data_Val_1 = 0x00; // Stores the data value byte Data_Val_2 = 0x00; // Stores the data value byte Data_Val_3 = 0x00; // Stores the data value byte Data_Val_4 = 0x00; // Stores the data value byte Data_Val_5 = 0x00; // Stores the data value byte Data_Val_6 = 0x00; // Stores the data value // Include Libraries #include <SPI.h> #include <RH_NRF24.h> RH_NRF24 nrf24; // Create NRF24 object void setup() { pinMode(4, OUTPUT); // Set digital pin 4 as an output nrf24.init(); // Initiailize NRF24 radio module nrf24.setChannel(1); // Defaults after init are 2.402 GHz (channel 2), 2Mbps, 0dBm nrf24.setRF(RH_NRF24::DataRate2Mbps, RH_NRF24::TransmitPower0dBm); } void loop() { if (nrf24.available()) // If the NRF24 has recieved data { uint8_t buf[11]; // Create array to store it in uint8_t len = sizeof(buf); if (nrf24.recv(buf, &len)) // Store the data { // We recieved a string of ten bytes, four ID, one command and six data values but they may not be for this tractor if (buf[0] == ID1 && buf[1] == ID2 && buf[2] == ID3 && buf[3] == ID4){ // Confirm that the correct vehicle ID has been recieved Command_Val = buf[4]; // Store the new command value Data_Val_1 = buf[5]; // Store the new data value Data_Val_2 = buf[6]; // Store the new data value Data_Val_3 = buf[7]; // Store the new data value Data_Val_4 = buf[8]; // Store the new data value Data_Val_5 = buf[9]; // Store the new data value Data_Val_6 = buf[10]; // Store the new data value } } // Servo not simple, NRF24 and servo libraries trying to use the same timer // Motor Control // Data recieved is between 0 and 255. The center is 255/2=127.5 and we want a buffer zone around here to stop the tractor from moving unexpectedly. if (Data_Val_5 < 120){ // This if function create a buffer zone of 7.5 bits below 127.5 Move_1 = map(Data_Val_5, 120, 0, 0,255); // PWM is 0% at 0 and 100% at 255 so scale the data value for use with the motor analogWrite(5,Move_1); // Set the PWM value on pin 5 to move the motor digitalWrite(6, HIGH); // Set the direction with pins 6 and 7 digitalWrite(7, LOW); } else if (Data_Val_5 > 135){ // This if function create a buffer zone of 7.5 bits above 127.5 Move_1 = map(Data_Val_5, 135, 255, 0,255); // PWM is 0% at 0 and 100% at 255 so scale the data value for use with the motor analogWrite(5,Move_1); // Set the PWM vlue on pin 5 to move the motor digitalWrite(7, HIGH); // Set the direction with pins 6 and 7 digitalWrite(6, LOW); } else{ // Every other value is in the buffer zone Move_1=0; analogWrite(5,Move_1); // Set the PWM to 0% digitalWrite(6, LOW); // Set the direction with pins 6 and 7 but not necessary digitalWrite(7, LOW); } // LED Control if(Data_Val_6==1){ digitalWrite(4, HIGH); // Turn LED on } else { digitalWrite(4, LOW); // Turn LED off } } }I have changed to using the RF24 library in my tractors instead of the library used above as the above library interfered with the servo library. To see the new RF24 library in use you should take a look at the Massey 8680 code here.
Thanks for sharing it here. I want to know about its hardware.
What are its hardware components and what are their specifications?
Also what about its firmware, how i can upload it?
Can you please share its whole setup?Have you seen this video, you can see the set up there.
I use an Arduino pro mini to control the NRF24L01 radio module and I use pins 9 and 10 for the CE and CS. I just uses the RF24 library to control it and here is a video about using that.
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