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Rover_V1B-A.ino.ino
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Rover_V1B-A.ino.ino
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/* RAN ROVER REMOTE CONTROL for Makeblock MegaPi
by www.nuvotion.com.au
littlebird.com.au
modified 22/10/2018
by NICK OWEN
Version 1.0 Block A
*/
#include "MeMegaPi.h"
MeMegaPiDCMotor motor1(PORT4A);
MeMegaPiDCMotor motor2(PORT4B);
MeMegaPiDCMotor motor3(PORT3A);
MeMegaPiDCMotor motor4(PORT3B);
MeMegaPiDCMotor motor5(PORT2A);
MeMegaPiDCMotor motor6(PORT2B);
MeMegaPiDCMotor motor7(PORT1A);
MeMegaPiDCMotor motor8(PORT1B);
uint8_t motorSpeed = 200;
int Mode = 0;
int ch1; // Here's where we'll keep our channel values
int ch2;
int ch3;
int ch4;
int ch5;
void setup() {
pinMode(24, INPUT); // Set our input pins as such
pinMode(26, INPUT); // Set our input pins as such
pinMode(28, INPUT);
pinMode(30, INPUT);
Serial.begin(9600); // Pour a bowl of Serial
}
void loop() {
ch1 = pulseIn(30, HIGH, 100000); // Read the pulse width of
ch2 = pulseIn(28, HIGH, 100000); // each channel
ch3 = pulseIn(26, HIGH, 100000);
ch4 = pulseIn(24, HIGH, 100000);
ch5 = pulseIn(22, HIGH, 100000);
/////////////////////////////MODE SELECT SWITCH CH5////
Serial.print(" Channel 5 Switch: "); // Ch5 Switch
int E = map(ch5, 1000, 2000, -255, 255); // center at 0
Serial.println(E); // center at 0
if (E > 100) {
Mode = 0;
Serial.println("Mode 0");
}
if (E < -100) {
Mode = 1;
Serial.println("Mode 1");
}
//////////////////////////////////////////
if (Mode == 0) {
///////////////////////right stick x//////////////////////
Serial.print("Right Stick up down C:"); // Ch3 was x-axis
int C = map(ch3, 1000, 2000, -255, 255); // center at 0
// C deadzone
if ((C < 50) && (C > -50)) {
C = 0;
}
Serial.print(C); // center at 0
if (C > 50) { // move forward
forward(C);
}
if (C < -50) { // move forward
reverse(C);
}
////////////////////////
///////////////////////right stick y/////////////////////////
Serial.print(" Right Stick LEFT/RIGHT D:"); // Ch3 was x-axis
int D = map(ch1, 1000, 2000, -255, 255); // center at 0
// D deadzone
if ((D < 50) && (D > -50)) {
D = 0;
}
Serial.println(D); // center at 0
if (D > 50) { //move left
LEFT(D);
}
if (D < -50) { //move left
RIGHT(D);
}
////////////////////////
/////////////////STOP///////////////////
if ((C == 0) && (D == 0)) {
stop();
}
///////////////////////
/////////////////////////////LEFT STICK UP/DOWN////
Serial.print(" LEFT Stick UP/DOWN A:"); // Ch3 was x-axis
int A = map(ch2, 1000, 2000, -255, 255); // center at 0
// A deadzone
if ((A < 50) && (A > -50)) {
A = 0;
}
Serial.println(A); // center at 0
motor1.run(A);
//////////////////////////////////////////
/////////////////////////////LEFT STICK UP/DOWN////
Serial.print(" LEFT Stick UP/DOWN B:"); // Ch3 was x-axis
int B = map(ch4, 1000, 2000, -255, 255); // center at 0
// B deadzone
if ((B < 50) && (B > -50)) {
B = 0;
}
Serial.println(B); // center at 0
motor3.run(B);
//////////////////////////////////////////
} //end of mode 0
if (Mode == 1) {
///////////////////////right stick x//////////////////////
Serial.print("Right Stick up down C:"); // Ch3 was x-axis
int C = map(ch3, 1000, 2000, -255, 255); // center at 0
// C deadzone
if ((C < 50) && (C > -50)) {
C = 0;
}
Serial.print(C); // center at 0
motor2.run(C);
////////////////////////
///////////////////////right stick y/////////////////////////
Serial.print(" Right Stick LEFT/RIGHT D:"); // Ch3 was x-axis
int D = map(ch1, 1000, 2000, -255, 255); // center at 0
// D deadzone
if ((D < 50) && (D > -50)) {
D = 0;
}
Serial.println(D); // center at 0
motor4.run(D);
////////////////////////
/////////////////////////////LEFT STICK UP/DOWN////
Serial.print(" LEFT Stick UP/DOWN A:"); // Ch3 was x-axis
int A = map(ch2, 1000, 2000, -255, 255); // center at 0
// A deadzone
if ((A < 50) && (A > -50)) {
A = 0;
}
Serial.println(A); // center at 0
motor1.run(A);
//////////////////////////////////////////
/////////////////////////////LEFT STICK UP/DOWN////
Serial.print(" LEFT Stick UP/DOWN B:"); // Ch3 was x-axis
int B = map(ch4, 1000, 2000, -255, 255); // center at 0
// B deadzone
if ((B < 50)
&& (B > -50)) {
B = 0;
}
Serial.println(B); // center at 0
motor3.run(B);
//////////////////////////////////////////
} //end of mode 1
Serial.println(); //make some room
delay(100);// I put this here just to make the terminal
// window happier
}
void forward(int speed) {
motor6.run(-speed); /* value: between -255 and 255. */
motor8.run(speed); /* value: between -255 and 255. */
Serial.println("FWD"); //
}
void reverse(int speed) {
motor6.run(-speed); /* value: between -255 and 255. */
motor8.run(speed); /* value: between -255 and 255. */
Serial.println("REV"); //
}
void stop(void) {
motor6.run(0); /* value: between -255 and 255. */
motor8.run(0); /* value: between -255 and 255. */
}
void LEFT(int speed) {
motor6.run(speed); /* value: between -255 and 255. */
motor8.run(speed); /* value: between -255 and 255. */
}
void RIGHT(int speed) {
motor6.run(speed); /* value: between -255 and 255. */
motor8.run(speed); /* value: between -255 and 255. */
}