[RC Tractor Guy]

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:

[RC Tractor Guy]

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 
//}
}

[sisikar]

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
 }
 }
}

[RC Tractor Guy]

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); 
}
}

[Jason Franken]

Hi all.
I’m considering alternative drive motors for the RC John Deere 8360RT.

How low geared (low rpm) does it need to be since that was an issue with an early attempt?
I can find flipped output 30 rpm n20 motors with threaded shafts or shorter shafts than used in the video, but the only one I see with the same size shaft as in the video is at 35 rpm.

The motor at this url might fit without cutting as much away from the tractor body but is 87 rpm (https://www.ebay.com/itm/Micro-7-Type-N20-Full-Metal-Gear-Motor-DC-3V-87RPM-Slow-Speed-Threaded-Shaft-DIY-/113275372699)

Like in video but 35 rpm: (https://www.ebay.com/itm/1pcs-1024-N20-DC1-5V-6V-Flip-Speed-Reduction-Gear-Motor-with-Metal-Gearbox-Wheel-/162792853203?uskus=speed:35R/Min&vauurId=461831340782)
Threaded shaft: (https://www.ebay.com/itm/1024GA20-6-12V-Thread-Flip-N20-Reduction-Geared-Motor-M4-55mm-Shaft-30-200RPM-im-/183356645680?skus=Voltage:6V|Rated%20Speed:30RPM&varId=690668606656)
Shorter shaft: (https://www.ebay.cuom/itm/JGA1024-N20-Micro-DC-Gear-Motors-3V-6V-12V-15rpm-500rpm-For-DIY-Robot-Flip-/153273342268?skus=Voltage%20&%20Speed:6V%20-%2030RPM|Package%20Quantity:1PCS&varId=453150392849)

Thanks,

Jason

[Author]

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