RF24 Uno Joystick to L298N Motor and Servo contro (Working)

 
/* Radio Receiver
 *  Adeept UNO with Motor Shield V2
 *  Radio module: nRF24L01 + PA + LNA with antenna built in -USE 3V !!!!  built in, 5V is fine ONLY with shield or adaptor, or bypass capacitor, see specs
 *  L298N - 7.4 V input - two 46850 batteries , use whatever you like .
 *  Can be done with any pair of UNOs - Written by Gallax 
 *  
 *  L298N is grounded to Uno. 
 *  
 *  Servo pin 2 or P4 on Adeept shield 
 *  CE 9  CSN 10 for Adeept shield  
 *  
 *    ////////////L298N CONNECTIONS  ON ADEEPT SHIELD OR UNO ////////////////
 *                   IN1    IN2    IN3    IN4       SPD1    SPD2 
 *                    8      4      7      5         9       3
 *  
 *  I didnt use RF24 Adaptor, shield has one built in. So this is universal for Unos.  
 *   *   ////////////////////// RF24 Adaptor or use this pinout :) / 
 *  __________________________________   
 *  || 3V  ||  10 ||   11  ||  NC   ||           NC - not connected. 
 *  || VCC-||-CSN-||- MOSI-||- IRQ  ||
 *  ||_____||_____||_______||_______||  
 *  || GND-||-CE -||- SCK -||- MISO ||
 *  || GND || 9   ||  13   ||   12  ||
 *  ||_____||_____||_______||_______||
 *  

 *  ///////////////////////////Servo connection //////////////////////////
 *  
 *  Servo is connected to 5V, GND, pin is 2 (search for servo.attach for reference)
 *  Adeept shield requires pin 2 = P4 - yes this was quite a job. 
 *  
*/

#include <SPI.h>
#include <nRF24L01.h>       // include RF24 libraries
#include <RF24.h>           // This will need some tweaking. Excellent job. 
#include <Servo.h>          // Include Servo library 

Servo servo;               // creates servo object to control servo 
                           // twelve servo objects can be created on most boards   

RF24 radio(9, 10);                           // CE, CSN
const uint64_t pipe = 0xE8E8F0F0E1LL;       // sets channel 
// const byte address[6] = "00001";         // alternative     
 
int data[8];                   // create dataset array 8 bit 


int enA = 9;   // speed control A
int in1 = 8;                  // Motor A connections
int in2 = 7;

int enB = 3;   // speed control B
int in3 = 5;                  // Motor B connections           
int in4 = 4; 
 
int xDir = 90;          // initial direction for servo later  

////////////////////////////////////////////////////////////////////////

void setup() {
  
  Serial.begin(9600);            // start serial monitor for debugging 

  radio.begin();                     // starts the radio 
  radio.openReadingPipe(0, pipe);    // sets this RF24 as receiver
  radio.setPALevel(RF24_PA_MIN);    // sets radio signal strength 
  radio.setDataRate(RF24_250KBPS);   // sets datarate to 250 kbps 
  radio.startListening();            // starts listening for data 

 
 /// ///////////// Set all the motor control pins to outputs/////////////////
  pinMode(enA, OUTPUT);     // speed control motor A on L298N
  pinMode(enB, OUTPUT);     // speed control motor B on L298N
  pinMode(in1, OUTPUT);     // motor A output - will become forward high    
  pinMode(in2, OUTPUT);     // motor A output - will become forward low 
  pinMode(in3, OUTPUT);     // motor B output - will become forward high
  pinMode(in4, OUTPUT);     // motor B output - will become forward low 
    
  servo.attach(2);        //sets servo pin to 2 = P4 on Adeept Shield

}

//////////////////LISTEN, READ, MAPPING AND PRINTING DATA////////////////////
 
void loop() {

   radio.startListening();             // receiver starts listening 
   
   if (radio.available()) {            // if the radio has connection 
   
   radio.read(&data, sizeof(data));    // read all in the dataset, sizeof is for numeric purposes 
  
   int x = map(data[0], 0, 1024, 0, 180);   // creates integer x, maps data[0], 0 is the first integer i used for the array, other than starting at 1 
   int y = map(data[1], 0, 1024, 0, 255);   // now data is next in line at  1. 
                                            // maps data from 0 - 1024 --- converted by me to 0 - n where n = 180 or 255 
  
  Serial.print("x:");       // serial print text  for reading       
  Serial.println(data[0]);  // (note only one with ln)print data, if fails, check connections. (note only one with ln)
  Serial.print("y:");       //prints text
  Serial.print(data[1]);    // prints the next piece of data 
  Serial.print("\t");       // i dunno, youll see why i didnt change this
  
 /////////////////////IF DATA RECEIVED - SERVO CONTROLS//////////////////////
 
 if ( data[0] == 0 )  {          // if data 0 is equal to 0. servo turns left
  xDir = 180;                    // see unit circle
  servo.write(xDir);             // TURN  
  delay(15);                     // small wait 
 }
 
 if ( data[0] > 600 )  {           // if data is greater than or equal to 600
  xDir = 0;                       // dir is 0 
  servo.write(xDir);             // TURN
  delay(15);                     // rinse repeat     
 }

 if (data[0] == 329 or data[0] == 328 ) {      // more if data for x axis, (steering)
  xDir = 90;                                   // 90 is straight 
  servo.write(xDir);                           // no turn 
  delay(15);                                  // small wait 
 }

/////////////////////IF DATA RECEIVED - MOTOR CONTROLS///////////////////////

if ( data[1] >= 650 )  {
  
  analogWrite(enA, 255);
  analogWrite(enB, 255);
  // Set motors to maximum speed
  // For PWM maximum possible values are 0 to 255
 
  // Turn on motor A & B
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);           //  GO MOTORS!
  digitalWrite(in3, HIGH);
  digitalWrite(in4, LOW);

 }
 
/********************************************************************/

 else {                               
  analogWrite(enA, 0);
  analogWrite(enB, 0); 
  digitalWrite(in1, LOW);            //  STOP MOTORS
  digitalWrite(in2, LOW);
  digitalWrite(in3, LOW);          
  digitalWrite(in4, LOW);
 }
 
/////////////////////////////////////////////////////////////////////

 if ( data[1] <= 10 )  {
  analogWrite(enA, 255);
  analogWrite(enB, 255);
  digitalWrite(in1, LOW);                   //  BACKWARDS MOTORS
  digitalWrite(in2, HIGH);                // if failed Check your wires, motor faces up (red wire on top) 
  digitalWrite(in3, LOW);                 
  digitalWrite(in4, HIGH);               
 }

/////////////////////////////////////////////////////////////////////

   
 else {         // waiting for connection, or NOT connected
 
 Serial.println("Not connected");  // prints a line of text
 delay(1000);                      // waits/repeats every second   
  }                               // delete this else statement if it becomes an eyesore
 }
}





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