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현재 아두이노 드론 키트를 사서
우노(조종기) - 레오나르도(드론)
를 만드는 중인데요, 인터넷 검색중 다음과 같은 수신부 코딩을 발견했습니다.
/*
* Check: http://www.electronoobs.com/eng_robotica_tut5_2_1.php
*
*
A basic receiver test for the nRF24L01 module to receive 6 channels send a ppm sum
with all of them on digital pin D2.
Install NRF24 library before you compile
Please, like, share and subscribe on my https://www.youtube.com/c/ELECTRONOOBS
*/
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
////////////////////// PPM CONFIGURATION//////////////////////////
#define channel_number 6 //set the number of channels
#define sigPin 2 //set PPM signal output pin on the arduino
#define PPM_FrLen 27000 //set the PPM frame length in microseconds (1ms = 1000쨉s)
#define PPM_PulseLen 400 //set the pulse length
//////////////////////////////////////////////////////////////////
int ppm[channel_number];
const uint64_t pipeIn = 0xE8E8F0F0E1LL;
RF24 radio(9, 10);
// The sizeof this struct should not exceed 32 bytes
struct MyData {
byte throttle;
byte yaw;
byte pitch;
byte roll;
byte AUX1;
byte AUX2;
};
MyData data;
void resetData()
{
// 'safe' values to use when no radio input is detected
data.throttle = 0;
data.yaw = 127;
data.pitch = 127;
data.roll = 127;
data.AUX1 = 0;
data.AUX2= 0;
setPPMValuesFromData();
}
void setPPMValuesFromData()
{
ppm[0] = map(data.throttle, 0, 255, 1000, 2000);
ppm[1] = map(data.yaw, 0, 255, 1000, 2000);
ppm[2] = map(data.pitch, 0, 255, 1000, 2000);
ppm[3] = map(data.roll, 0, 255, 1000, 2000);
ppm[4] = map(data.AUX1, 0, 1, 1000, 2000);
ppm[5] = map(data.AUX2, 0, 1, 1000, 2000);
}
/**************************************************/
void setupPPM() {
pinMode(sigPin, OUTPUT);
digitalWrite(sigPin, 0); //set the PPM signal pin to the default state (off)
cli();
TCCR1A = 0; // set entire TCCR1 register to 0
TCCR1B = 0;
OCR1A = 100; // compare match register (not very important, sets the timeout for the first interrupt)
TCCR1B |= (1 << WGM12); // turn on CTC mode
TCCR1B |= (1 << CS11); // 8 prescaler: 0,5 microseconds at 16mhz
TIMSK1 |= (1 << OCIE1A); // enable timer compare interrupt
sei();
}
void setup()
{
resetData();
setupPPM();
// Set up radio module
radio.begin();
radio.setDataRate(RF24_250KBPS); // Both endpoints must have this set the same
radio.setAutoAck(false);
radio.openReadingPipe(1,pipeIn);
radio.startListening();
}
/**************************************************/
unsigned long lastRecvTime = 0;
void recvData()
{
while ( radio.available() ) {
radio.read(&data, sizeof(MyData));
lastRecvTime = millis();
}
}
/**************************************************/
void loop()
{
recvData();
unsigned long now = millis();
if ( now - lastRecvTime > 1000 ) {
// signal lost?
resetData();
}
setPPMValuesFromData();
}
/**************************************************/
#error Delete this line befor you cahnge the value (clockMultiplier) below
#define clockMultiplier 2 // set this to 2 if you are using a 16MHz arduino, leave as 1 for an 8MHz arduino
ISR(TIMER1_COMPA_vect){
static boolean state = true;
TCNT1 = 0;
if ( state ) {
//end pulse
PORTD = PORTD & ~B00000100; // turn pin 2 off. Could also use: digitalWrite(sigPin,0)
OCR1A = PPM_PulseLen * clockMultiplier;
state = false;
}
else {
//start pulse
static byte cur_chan_numb;
static unsigned int calc_rest;
PORTD = PORTD | B00000100; // turn pin 2 on. Could also use: digitalWrite(sigPin,1)
state = true;
if(cur_chan_numb >= channel_number) {
cur_chan_numb = 0;
calc_rest += PPM_PulseLen;
OCR1A = (PPM_FrLen - calc_rest) * clockMultiplier;
calc_rest = 0;
}
else {
OCR1A = (ppm[cur_chan_numb] - PPM_PulseLen) * clockMultiplier;
calc_rest += ppm[cur_chan_numb];
cur_chan_numb++;
}
}
컨트롤에서 받은 값을 드론 쪽에서 이용하는것같은데 이 코딩은 블루투스 통신이 아닌 라디오 통신이라
사용하지 못하고 있습니다 ㅜ 혹시 아시는 분이 계시다면 위의 코딩의 대략적인 설명과
블루투스로 통신하려면 어떤식으로 코딩을 바꿔야 하는지 가르쳐주시면 정말정말 감사하겠습니다!!!!
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