RC John Deere 8360RT Build

This topic contains 3 replies, has 2 voices, and was last updated by RC Tractor Guy RC Tractor Guy 2 years, 1 month ago.

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  • #930
    RC Tractor Guy
    RC Tractor Guy
    Keymaster

    If you have any questions about my John Deere 8360RT build then this is the place to ask them. You can see it working with the Moneydarragh Farm and Agri Contractors here:

    #931
    RC Tractor Guy
    RC Tractor Guy
    Keymaster

    Here is the code for the Arduino in the cab of the JD 8360RT

    /*
    Generic RC Tractor Cab Code Version 2.0
    This code was written by Oisin O'Conchubhair for the website www.rctractors.net
    This is the generic code used to control homemade RC Tractors.
    The code is intended to be used with an Arduino Pro Mini
    Circuit diagram can be found ar www.rctractors.net
    Pin Assignment
    D0 Serial RX
    D1 Serial TX
    D2 Right Indicator
    D3 Work Lights
    D4 Right Beacon
    D5 
    D6 
    D7 Left Beacon
    D8 NRF24 CE
    D9 Left Indicator
    D10 NRF24 CSN
    D11 NRF24 MOSI
    D12 NRF24 MISO
    D13 NRF24 SCK
    A0 
    A1 
    A2 Not assigned
    A3 Not assigned
    A4 Not assigned
    A5 Not assigned
    */
    
    // This section describes the vehicle
    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 Active = 0; // Variable to determine if the tractor is in active
    int left_ind = 0; // Variable indicating if the left indicator is currently on or off
    int right_ind = 0; // Variable indicating if the right indicator is currently on or off
    int Ind_Timer = 0; // Variable used to record the length of time the indicator is on for
    int ind_timer2 = 0; // Variable used to record the beacon is on for
    int beac_on = 0; // Variable indicating if the right indicator is currently on or off
    int beac_timer = 0; // Variable used to record the length of time the indicator is on for
    int ind_active = 0; // Variable set to show that indicator code should be running
    int beacon_active = 0; // Variable set to show that indicator code should be running
    int spots_on = 0; // Variable to idicate if the large spot lights are on
    int Last_Data_Timer = 0;
    int Beacon_Option=2;
    int Beacon_Timer=0;
    byte dat1 = 0x00; // Stores received byte
    byte dat2 = 0x00; // Stores received byte
    byte dat3 = 0x00; // Stores received byte
    byte dat4 = 0x00; // Stores received byte
    byte dat5 = 0x00; // Stores received byte
    byte dat6 = 0x00; // Stores received byte
    byte command_val = 0; // Stores the command value
    byte Data_Val_1 = 0; // Stores the data value
    byte Data_Val_2 = 0; // Stores the data value
    byte Data_Val_3 = 0; // Stores the data value
    byte Data_Val_4 = 0; // Stores the data value
    byte Data_Val_5 = 0; // Stores the data value
    byte Data_Val_6 = 0; // Stores the data value
    byte Data_Val_7 = 0; // Stores the data value
    byte Data_Val_8 = 0; // Stores the data value
    byte Data_Val_9 = 0; // Stores the data value
    byte Data_Val_10 = 0; // Stores the data value
    byte Data_Val_11 = 0; // Stores the data value
    byte Data_Val_12 = 0; // Stores the data value
    byte Old_Data_Val_1 = 0; // Stores the data value
    byte Old_Data_Val_2 = 0; // Stores the data value
    byte Old_Data_Val_3 = 0; // Stores the data value
    byte Old_Data_Val_4 = 0; // Stores the data value
    byte Old_Data_Val_5 = 0; // Stores the data value
    byte Old_Data_Val_6 = 0; // Stores the data value
    byte Old_Data_Val_7 = 0; // Stores the data value
    byte Old_Data_Val_8 = 0; // Stores the data value
    int data = 0; // Variable to indicate serial data is available
    
    uint8_t buf[16];
    
    #include <SPI.h>
    #include "RF24.h"
    
    RF24 radio(8,10);
    
    // Controller Addresses
    const uint64_t Controller_1 = 0xE8E8F0F0E1LL;
    const uint64_t Controller_2 = 0xE8E8F0F0E2LL;
    void setup() 
    {
    Serial.begin(9600);
    
    pinMode(2, OUTPUT); // Right indicator
    pinMode(3, OUTPUT); // Work lights
    pinMode(4, OUTPUT); // Right Beacon
    pinMode(7, OUTPUT); // Left Beacon
    pinMode(9, OUTPUT); // Left indicator
    
    radio.begin(); // Initialize the NRF24 Radio Module
    radio.openReadingPipe(1,Controller_1); // Set Address of Controller 1 
    radio.openReadingPipe(2,Controller_2); // Set Address of Controller 2
    radio.startListening(); // Start listening for commands from the controllers
    }
    
    void loop()
    {
    Data_Check();
    Data_Loss_Check();
    if(Active==1){
    Update_Motors();
    LED_Control();
    Beacon_Control();
    }
    Ind_Control();
    }
    
    void Data_Check(){
    if (radio.available())radio.read(buf, 16); {
    
    // 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
    Data_Val_1 = buf[4]; // Store the controller left joystick x value
    Data_Val_2 = buf[5]; // Store the controller left joystick x value
    Data_Val_3 = buf[6]; // Store the controller left joystick x value
    Data_Val_4 = buf[7]; // Store the controller left joystick x value
    Data_Val_5 = buf[8]; // Store the controller left joystick x value
    Data_Val_6 = buf[9]; // Store the controller left joystick x value
    Data_Val_7 = buf[10]; // Store the head lights state
    Data_Val_8 = buf[11]; // Store the work lights state
    Data_Val_9 = buf[12]; // Store the indicator state
    Data_Val_10 = buf[13]; // Store the new data value
    Data_Val_11 = buf[14]; // Store the new data value
    Data_Val_12 = buf[15]; // Store the new data value
    
    Last_Data_Timer = 10;
    Active = 1;
    }
    }
    }
    
    void Update_Motors(){
    
    if(Data_Val_1!=Old_Data_Val_1){
    Serial.write(0x0A); // \n
    Serial.write(0x01); // \n
    Serial.write(Data_Val_1); // \n 
    Old_Data_Val_1=Data_Val_1;
    }
    
    if(Data_Val_2!=Old_Data_Val_2){
    Serial.write(0x0A); // \n
    Serial.write(0x02); // \n
    Serial.write(Data_Val_2); // \n 
    Old_Data_Val_2=Data_Val_2;
    }
    
    if(Data_Val_3!=Old_Data_Val_3){
    Serial.write(0x0A); // \n
    Serial.write(0x03); // \n
    Serial.write(Data_Val_3); // \n 
    Old_Data_Val_3=Data_Val_3;
    }
    
    if(Data_Val_4!=Old_Data_Val_4){
    Serial.write(0x0A); // \n
    Serial.write(0x04); // \n
    Serial.write(Data_Val_4); // \n 
    Old_Data_Val_4=Data_Val_4;
    }
    
    if(Data_Val_5!=Old_Data_Val_5){
    Serial.write(0x0A); // \n
    Serial.write(0x05); // \n
    Serial.write(Data_Val_5); // \n 
    Old_Data_Val_5=Data_Val_5;
    }
    
    if(Data_Val_6!=Old_Data_Val_6){
    Serial.write(0x06); // \n
    Serial.write(0x01); // \n
    Serial.write(Data_Val_6); // \n 
    Old_Data_Val_6=Data_Val_6;
    } 
    }
    
    void LED_Control(){
    if(Data_Val_8!=Old_Data_Val_8){
    if(Data_Val_8 == 1){ // Work Lights
    digitalWrite(3, HIGH); // turn it on
    Serial.write(0x0A); // \n
    Serial.write(0x08); // \n
    Serial.write(0x01); // \n 
    }
    else{
    digitalWrite(3, LOW); // turn it on
    Serial.write(0x0A); // \n
    Serial.write(0x08); // \n
    Serial.write(0x00); // \n 
    }
    Old_Data_Val_8=Data_Val_8; 
    }
    
    if(Data_Val_7!=Old_Data_Val_7){
    if(Data_Val_7 == 1){
    Serial.write(0x0A); // \n
    Serial.write(0x07); // \n
    Serial.write(0x01); // \n 
    }
    else if(Data_Val_7 == 2){
    Serial.write(0x0A); // \n
    Serial.write(0x07); // \n
    Serial.write(0x02); // \n 
    }
    else{
    Serial.write(0x0A); // \n
    Serial.write(0x07); // \n
    Serial.write(0x00); // \n 
    }
    Old_Data_Val_7=Data_Val_7;
    } 
    }
    
    void Ind_Control(){
    
    Ind_Timer = Ind_Timer+1;
    
    if(Ind_Timer = 2000){
    if (Data_Val_9 == 1){
    ind_left();
    }
    else if(Data_Val_9 == 2){
    ind_right();
    }
    else if(Data_Val_9 == 3){
    ind_hazard();
    }
    else{
    ind_off();
    } 
    Ind_Timer = 0;
    }
    }
    
    // Indicator control functions
    void ind_left(){
    if (left_ind == 0){ // If left indicator is off
    digitalWrite(2, HIGH); // turn it on
    Serial.write(0x0A); // \n
    Serial.write(0x09); // \n
    Serial.write(0x02); // \n
    left_ind = 1;
    
    }
    else{ // If left indicator is on
    ind_off();
    }
    }
    
    void ind_right(){
    if (right_ind == 0){ // If right indicator is off
    digitalWrite(9, HIGH); // turn it on
    Serial.write(0x0A); // \n
    Serial.write(0x09); // \n
    Serial.write(0x01); // \n
    right_ind = 1;
    }
    else{ // If right indicator is on
    ind_off();
    }
    }
    
    void ind_hazard(){
    if (left_ind == 0){ // If hazards are off
    digitalWrite(2, HIGH); // turn them on
    digitalWrite(9, HIGH);
    Serial.write(0x0A); // \n
    Serial.write(0x09); // \n
    Serial.write(0x03); // \n
    left_ind = 1;
    }
    else{ // If hazards are on
    ind_off();
    }
    }
    
    void ind_off(){
    digitalWrite(2, LOW); // turn them off
    digitalWrite(9, LOW);
    Serial.write(0x0A); // \n
    Serial.write(0x09); // \n
    Serial.write(0x00); // \n
    left_ind = 0;
    right_ind = 0;
    }
    
    void Beacon_Control(){
    if(Beacon_Option==1){
    Beacon_Timer++;
    if (Beacon_Timer == 4){
    digitalWrite(4, LOW);
    digitalWrite(7, HIGH);
    }
    else if (Beacon_Timer == 8){
    digitalWrite(4, HIGH);
    digitalWrite(7, LOW);
    Beacon_Timer = 0;
    } 
    }
    else if(Beacon_Option==2){
    Beacon_Timer++;
    if (Beacon_Timer == 4){
    digitalWrite(4, HIGH);
    }
    if (Beacon_Timer == 6){
    digitalWrite(4, LOW);
    }
    if (Beacon_Timer == 8){
    digitalWrite(4, HIGH);
    }
    if (Beacon_Timer == 10){
    digitalWrite(4, LOW);
    }
    
    if (Beacon_Timer == 14){
    digitalWrite(7, HIGH);
    }
    if (Beacon_Timer == 16){
    digitalWrite(7, LOW);
    }
    if (Beacon_Timer == 18){
    digitalWrite(7, HIGH);
    }
    if (Beacon_Timer == 20){
    digitalWrite(7, LOW);
    Beacon_Timer = 0;
    }
    }
    else{
    digitalWrite(4, LOW);
    digitalWrite(7, LOW);
    } 
    }
    
    void Data_Loss_Check(){
    if(Last_Data_Timer != 0){
    Last_Data_Timer = Last_Data_Timer - 1;
    }
    
    if(Last_Data_Timer == 0 && Active == 1){
    Active = 0;
    Data_Val_9 == 3;
    Beacon_Option=0;
    LED_Control();
    Beacon_Control();
    }
    }

    And the code for the Arduino in the body is:

    /*
    Generic RC Tractor Body Code Version 2.0
    This code was written by Oisin O'Conchubhair for the website www.rctractors.net
    This is the generic code used to control homemade RC Tractors.
    The code is intended to be used with an Arduino Pro Mini
    Circuit diagram can be found ar www.rctractors.net
    Pin Assignment
    D0 Serial RX
    D1 Serial TX
    D2 Left Indicator
    D3 Head Lights
    D4 Right Indicator
    D5 Drive Motor Speed Control
    D6 Brake Lights
    D7 Drive Motor Direction Control 1
    D8 Drive Motor Direction Control 2
    D9 Three-Point Linkage Servo Signal
    D10 Steering Servo Signal
    D11 Accessory Servo Signal
    D12 Accessory Serial TX Signal
    D13 Spot Lights
    A0 Beacon 1
    A1 Beacon 2
    A2 Not assigned
    A3 Not assigned
    A4 Not assigned
    A5 Not assigned
    */
    
    // This section describes the vehicle
    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
    byte steering_center = 0x52; // Every model is different so once we have biult the model
    byte steering_min = 0x40; // we test for the limits of the steering. Servo values must
    byte steering_max = 0x80; // not exceed 0xB4 as this is 180 degrees, max servo rotation
    byte drive_center = 128; // The drive is generally going to be the same for all models
    byte drive_max = 255; // but you can change these values if you need to
    byte drive_min = 0;
    byte link_center = 0x5A; // The link values depend your use. If used to control one of
    byte link_min = 0x40; // the three-point links, adjust the values. If used for an
    byte link_max = 0x80; // accessory, dont change values and use like external servo
    byte external_center = 0x5A; // Set a center value for the extra servos, 5A is 90 in Hex
    byte ex_ser_val = 30;
    
    // Variables used in the program
    int left_ind = 0; // Variable indicating if the left indicator is currently on or off
    int right_ind = 0; // Variable indicating if the right indicator is currently on or off
    int ind_timer = 0; // Variable used to record the length of time the indicator is on for
    int ind_timer2 = 0; // Variable used to record the beacon is on for
    int beac_on = 0; // Variable indicating if the right indicator is currently on or off
    int beac_timer = 0; // Variable used to record the length of time the indicator is on for
    int ind_active = 0; // Variable set to show that indicator code should be running
    int beacon_active = 0; // Variable set to show that indicator code should be running
    int dips_on = 0; // Variable to idicate if the dipped headlights are on
    int heads_on = 0; // Variable to idicate if the full beams are on
    int spots_on = 0; // Variable to idicate if the large spot lights are on
    int move1 = 125; // Variable used to determine the motor direction
    int move2 = 125;
    byte command_val = 0x00; // Stores the command value
    byte data_val = 0x00; // Stores the data value
    byte servo_val = 0x00; // Variable used to ensure data_val is between servo limits
    byte drive_val = 0x00;
    byte dat1 = 0x00; // Stores received byte
    byte dat2 = 0x00; // Stores received byte
    byte dat3 = 0x00; // Stores received byte
    byte dat4 = 0x00; // Stores received byte
    byte dat5 = 0x00; // Stores received byte
    byte dat6 = 0x00; // Stores received byte
    byte steering_val = 0x00;
    int link_ser_val = 127;
    
    // Battery Voltage Measurement Code
    //long readVcc() {
    // long result;
    // // Read 1.1V reference against AVcc
    // ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1);
    // delay(2); // Wait for Vref to settle
    // ADCSRA |= _BV(ADSC); // Convert
    // while (bit_is_set(ADCSRA,ADSC));
    // result = ADCL;
    // result |= ADCH<<8;
    // result = 1125300L / result; // Back-calculate AVcc in mV
    // return result;
    //}
    
    #include <Servo.h> // Include the library for controlling servos
    #include <SendOnlySoftwareSerial.h> // Include the library for creating additional serial ports
    
    SendOnlySoftwareSerial ExternalSerial(12); // Set pin 2 as RX and 7 as TX for the software serial port
    
    Servo link_servo; // Create servo object to control the link servo
    Servo external_servo; // Create servo object to control the external servo
    
    int data = 0; // Variable to indicate serial data is available
    
    void setup()
    {
    Serial.begin(9600); // Initialize main serial communication
    ExternalSerial.begin(9600); // Initialize additional serial communication
    
    // Set pins as outputs
    pinMode(2, OUTPUT); // Left indicator
    pinMode(3, OUTPUT); // Head lights
    pinMode(4, OUTPUT); // Right indicator
    pinMode(5, OUTPUT); // Drive motor 1 PWM control pin
    pinMode(6, OUTPUT); // Drive motor 2 PWM control pin
    pinMode(7, OUTPUT); // Drive motor 1 direction control 1
    pinMode(8, OUTPUT); // Drive motor 1 direction control 2
    pinMode(10, OUTPUT); // Brake Lights
    pinMode(13, OUTPUT); // Spot Lights
    pinMode(A0, OUTPUT); // Drive motor 2 direction control 1
    pinMode(A1, OUTPUT); // Drive motor 2 direction control 2
    pinMode(A2, OUTPUT); // Not assigned
    pinMode(A3, OUTPUT); // Not assigned
    pinMode(A4, OUTPUT); // Not assigned
    pinMode(A5, OUTPUT); // Not assigned
    
    // Set servo pins
    link_servo.attach(9); // attaches the servo on pin 9 to the link servo object
    external_servo.attach(11); // attaches the servo on pin 11 to the external servo object
    
    // Initialise the servos
    link_servo.write(link_center); // sets the initial link servo position
    external_servo.write(external_center); // sets the initial external servo position
    }
    
    // Main loop, this constantly repeats
    void loop() {
    if (Serial.available()) { // Check if serial data is available
    dat1=Serial.read(); // If yes then read it
    if (dat1 == 0x0A){ // Check for 0A indicating the start of a command string
    data++; // If 0A recieved then make data = 1
    while (data == 1){ // While data = 1 wait for the first command byte
    if (Serial.available()) {
    command_val=Serial.read(); // Once receieved store it in dat1
    data++; // Increment data variable
    }
    }
    while (data == 2){ // While data = 2 wait for the second command byte
    if (Serial.available()) {
    data_val=Serial.read(); // Once receieved store it in dat2
    data = 0; // When the final byte is recieved we exit these loops
    }
    }
    }
    }
    
    switch (command_val){ // Perform an action based on the recieved command
    
    case 0x00:
    { // No command exit command selection
    break;
    }
    case 0x01: // Left Joystick X
    {
    if(data_val > 0xCC){// && ex_ser_val<255)
    ex_ser_val = ex_ser_val +1;
    ExternalSerial.write(0x09);
    }
    else if(data_val < 0x40){// && ex_ser_val>0)
    ex_ser_val = ex_ser_val -1;
    ExternalSerial.write(0x08);
    }
    else{
    ExternalSerial.write(0x0A);
    }
    external_servo.write(ex_ser_val); // Set the servo position according to the recieved value
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    case 0x02: // Left Joystick Y
    {
    drive_val = data_val;//drive_min, drive_max); // scale the data value for use with the motor
    update_motor();
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    
    }
    case 0x03: // Left Pot
    { // We will scale this value with the controller so it works for different implements
    link_servo.write(data_val); // Set the servo position according to the scaled value
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break; 
    }
    case 0x04: // Right Joystick X
    {
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    case 0x05: // Right Joystick Y
    {
    steering_val = data_val; // Scale data_val to between steering_min and steering_max
    update_motor();
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    
    }
    case 0x06: // Right Pot
    {
    ExternalSerial.write(data_val); // Output serial command to the implement
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    
    }
    case 0x07: // Head Lights
    {
    if (data_val == 1)
    {
    analogWrite(3, 127);
    digitalWrite(10, HIGH);
    }
    else if (data_val == 2)
    {
    analogWrite(3, 255);
    digitalWrite(10, HIGH);
    }
    else
    {
    analogWrite(3, 0);
    digitalWrite(10, LOW);
    }
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    case 0x08: // Left indicator
    {
    if (data_val == 1){ // If off turn on
    digitalWrite(13, HIGH);
    }
    else{
    digitalWrite(13, LOW);
    }
    }
    case 0x09: // Left indicator
    {
    if (data_val == 1){ // If off turn on
    digitalWrite(2, HIGH);
    digitalWrite(4, LOW); 
    }
    else if(data_val == 2){
    digitalWrite(2, LOW);
    digitalWrite(4, HIGH);
    }
    else if(data_val == 3){
    digitalWrite(2, HIGH);
    digitalWrite(4, HIGH);
    }
    else{
    digitalWrite(2, LOW);
    digitalWrite(4, LOW);
    }
    } 
    case 0x0B: // Not Implemented
    {
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    case 0x0C: // Link servo
    {
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    case 0x0D: // Not Implemented
    {
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    case 0x0E: // Not Implemented
    {
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    case 0x0F: // Not Implemented
    {
    command_val = 0x00; // Clear command and data values
    data_val = 0x00;
    break;
    }
    }
    }
    
    void update_motor(){
    if (drive_val < 120){ // These if functions leave a buffer zone of 15 bits above and below the drive center value
    move1 = map(drive_val, 120, 0, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
    analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(8, HIGH); // Set the direction with pins 7 and 8
    digitalWrite(7, LOW); 
    }
    else if (drive_val > 135){
    move1 = map(drive_val, 135, 255, 0,255);//drive_min, drive_max); // scale the data value for use with the motor 
    analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(7, HIGH); // Set the direction with pins 7 and 8
    digitalWrite(8, LOW); 
    
    }
    else{
    move1=0; 
    analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(8, LOW); // Set the direction with pins 7 and 8
    digitalWrite(7, LOW);
    }
    
    if(steering_val < 120){
    move2 = map(steering_val, 128, 0, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
    analogWrite(6,move2); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(A1, LOW); // Set the direction with pins 7 and 8
    digitalWrite(A0, HIGH); 
    }
    else if(steering_val > 135){
    move2 = map(steering_val, 128, 255, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
    analogWrite(6,move2); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(A0, LOW); // Set the direction with pins 7 and 8
    digitalWrite(A1, HIGH); 
    }
    else{
    move2=0;
    analogWrite(6,move2); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(A0, LOW); // Set the direction with pins 7 and 8
    digitalWrite(A1, LOW); 
    }
    }
    
    void Battery_Check(){
    //Batt_Vol = readVcc();
    //if(Batt_Vol<3600){
    //shutdown 
    //}
    }
    #1355

    sisikar
    Participant

    yes but only control arduino on arduino not serial communication.I build crawler and i like your steering RC John Deere 8360RT.
    I have a functional model but need variables code for two motor control. code for Arduino in the control – code for Arduino in the body

    left-right joystick X, forward-backward joystick Y
    _________________________________________________________________
    please modify receiver code

    /*
    NRF24L01 Module Demo Receiver Code
    
     Pin Assignment
     D0 
     D1 AIN3
     D2 AIN4
     D3 PWMB
     D4 LED Pin
     D5 PWMA
     D6 AIN1
     D7 AIN2
     D8 NRF24 CE
     D9 nova ledka
     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
    int Move_2 = 125;
    
    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
    byte Data_Val_7 = 0x00; //nova ledka
    byte Data_Val_8 = 0x00; //Right_Joy_X
    byte Data_Val_9 = 0x00; //Right_Joy_Y
    
    float 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
     pinMode(3, OUTPUT);// nova ledka
     Serial.begin(9600);
     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[14]; // 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){ // ak sedia hodnoty tak je to pravda
     Command_Val = buf[4]; // Store the new command value
     Data_Val_1 = buf[5]; // variabilne priradene k setup
     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]; // Left_Joy_X
     Data_Val_5 = buf[9]; // Left_Joy_Y
     Data_Val_6 = buf[10]; // Store the new data value
     Data_Val_7 = buf[11]; // nova ledka
     Data_Val_8 = buf[12]; //Right_Joy_X
     Data_Val_9 = buf[13]; //Right_Joy_Y
    
     }
    
     }
    
     // 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);
      Serial.print("analog read ");
     Serial.println(Data_Val_5);// 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 > 140){ // This if function create a buffer zone of 7.5 bits above 127.5
     Move_1 = map(Data_Val_5, 140, 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);
     Serial.print("analog read ");
     Serial.println(Data_Val_5);// 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);
     }
     if (Data_Val_9 < 120){ // This if function create a buffer zone of 7.5 bits below 127.5
     Move_2 = map(Data_Val_9, 120, 0, 0,255); // PWM is 0% at 0 and 100% at 255 so scale the data value for use with the motor
     analogWrite(3,Move_2);
      Serial.print("                    analog read ");
     Serial.println(Data_Val_9);// Set the PWM value on pin 5 to move the motor
     digitalWrite(4, HIGH); // Set the direction with pins 6 and 7
     digitalWrite(2, LOW);
     }
    
     else if (Data_Val_9 > 140){ // This if function create a buffer zone of 7.5 bits above 127.5
     Move_2 = map(Data_Val_9, 140, 255, 0,255); // PWM is 0% at 0 and 100% at 255 so scale the data value for use with the motor
     analogWrite(3,Move_2);
     digitalWrite(2, HIGH); // Set the direction with pins 6 and 7
     digitalWrite(4, LOW); 
    
     }
     else{ // Every other value is in the buffer zone
     Move_2=0; 
     analogWrite(3,Move_2); // Set the PWM to 0%
     digitalWrite(4, LOW); // Set the direction with pins 6 and 7 but not necessary
     digitalWrite(2, LOW);
     }
     // LED Control
     if(Data_Val_6==1){ 
     digitalWrite(1, HIGH); // Turn LED on
     }
     else {
     digitalWrite(1, LOW); // Turn LED off
     }
     // nova ledka
      if(Data_Val_7==1){ 
     digitalWrite(9, HIGH); // Turn LED on
     }
     else {
     digitalWrite(9, LOW); // Turn LED off
     }
     }
    }
    #1356
    RC Tractor Guy
    RC Tractor Guy
    Keymaster

    You just need the piece that controls the motors right? I just use this function to do that, I measure two potentiometer values, send them to the tractor, name the values drive_val_1 and drive_val_2 and then call this function. Does that help?

    void update_motor(){
    if (drive_val_1 < 120){ // These if functions leave a buffer zone of 15 bits above and below the drive center value
    move1 = map(drive_val_1, 120, 0, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
    analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(8, HIGH); // Set the direction with pins 7 and 8
    digitalWrite(7, LOW); 
    }
    else if (drive_val_1 > 135){
    move1 = map(drive_val_1, 135, 255, 0,255);//drive_min, drive_max); // scale the data value for use with the motor 
    analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(7, HIGH); // Set the direction with pins 7 and 8
    digitalWrite(8, LOW); 
    
    }
    else{
    move1=0; 
    analogWrite(5,move1); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(8, LOW); // Set the direction with pins 7 and 8
    digitalWrite(7, LOW);
    }
    
    if(drive_val_2 < 120){
    move2 = map(drive_val_2, 128, 0, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
    analogWrite(6,move2); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(A1, LOW); // Set the direction with pins 7 and 8
    digitalWrite(A0, HIGH); 
    }
    else if(drive_val_2 > 135){
    move2 = map(drive_val_2, 128, 255, 0,255);//drive_min, drive_max); // scale the data value for use with the motor
    analogWrite(6,move2); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(A0, LOW); // Set the direction with pins 7 and 8
    digitalWrite(A1, HIGH); 
    }
    else{
    move2=0;
    analogWrite(6,move2); // Set the PWM vlue on pin 5 to move the motor
    digitalWrite(A0, LOW); // Set the direction with pins 7 and 8
    digitalWrite(A1, LOW); 
    }
    }
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