Published February 4, 2023

How to Make an Arduino Submarine Part.1

This project will show you how to make an Arduino submarine.

IntermediateWork in progress1 hour3,460

Things used in this project

Hardware components

Arduino Nano R3

Female/Female Jumper Wires

Arduino Nano extension board

nRF24l01 PA-LNA

SG90 Micro-servo motor

MG996R

Power adapter 5-36V

9V battery (generic)

Battery wires

Glass Jar

Hull of submarine. Glass Jar 2L "Korken" LInk related : IKEA US IKEA France : https://www.ikea.com/fr/fr/p/korken-bocal-avec-couvercle-verre-transparent-90213549/

Syringe

Curved Magnet

Magnets

Magnets used for this project aren't available so you'll make some modifications to adapt 3D files.

Machine Screw, M3

Depends on what you have. If you need to buy them, M3x30 or/and M3x10

Weights

Software apps and online services

Arduino IDE

Autodesk Fusion

(optional : not mandatory but recommended) SolidWorks, Tinkercad can be used too

Hand tools and fabrication machines

3D Printer (generic)

Soldering iron (generic)

Solder Wire, Lead Free

Story

Introduction

I've always wanted to create a submarine and today, after gaining experience in Arduino coding and 3D modeling, I'm able to do so. In this project, you'll have access to conception of this RC device.

As I previously said on a project, during design I focus on robustness, resilience and reparability of what I conceive. This will affects overall perfomances but this isn't a big deal for me.

Approach

A submarine must be airtight, which means that any type of transfer between inside and outside of the vehicule is a potential threat to electronic cards running inside and by extension, a lack of viability.

So, I decided to completely cut transfers between inside and outside, by ensuring propulsion, direction and ballast control using an electromagnetic transmission. I got this idea from Brick Experiment Channel.

The main difference is approach : Brick Experiment used a acrylic cylinder, which isn't my case. I use a IKEA long glass jar as the hull.

Although reparability and viability is a huge concern in my case, I also need to conceive the vehicule taking into account that the jar is curved, and not perfect cylinder. Moreover, I don't have lego bricks.

But once made, there will no problems with viability and hermiticity.

Basic principle

As you might know, a submarine dive by modifying its density in water : a higher density (than water) will make it sink while a lower one will lift it until reaching the surface. Here is a little video made by a guy called Corvus :

For this submarine, as we can't let a single transfer between inside and outside, a syringe will be used outside of the submarine, connected to an air-filled balloon.

By pressing the syringe, the balloon is inflated. Otherwise, by pulling it, the balloon volume shrink. We'll use this mecanism to increase/decrease density and, by extension, to make the submarine lift.

Development

To apply what is said on the video above, I decided to use strong servo MG996R which can lift almost 1kg to activate the syringe. However, this servo was link to the syringe using a magnetic transmission.

As a result, magnets weren't strong enough to link shaft and servo, so I had to find a better solution (which will come in a future project) : an external ballast with its own electrical circuit.

Of course this method is less reliable than the previous one (simply because we add another system and issues that follow). But if I wanted to keep the main microcontroller safe from water, I had to create a true and proper way to make the submarine sink).

Here are some pictures of the first phase of development of this submarine. Those are of course not the future product :

1 / 2

Future projects

I've recently done a RC plane. It's however a bit hard to test so I might post the project corresponding to in a few month, once I've tested it.

Tipeee

I opened a Tipeee to gather some funds for projects, I'll post informations and news about incoming devices.
A big thank to people who'll support me on Tipeee ;D
MisterBotBreak – Tipeee

See ya :D

#include <Mirf.h>
#include <nRF24L01.h>
#include <MirfHardwareSpiDriver.h>
#include <SPI.h>
#include <RF24.h>
#include <Elegoo_GFX.h>
#include <Elegoo_TFTLCD.h>
#include <TouchScreen.h>


#define LCD_CS A3
#define LCD_CD A2
#define LCD_WR A1
#define LCD_RD A0
#define LCD_RESET A4


#define BLACK 0x0000
#define BLUE 0x001F
#define RED 0xF800
#define GREEN 0x07E0
#define CYAN 0x07FF
#define MAGENTA 0xF81F
#define YELLOW 0xFFE0
#define WHITE 0xFFFF
#define ORANGE 0xFA60
#define LIME 0x07FF
#define ORANGE1 ((255 / 8) << 11) | ((165 / 4) << 5) | (0 / 8)
#define ORANGE2 ((255 / 8) << 11) | ((187 / 4) << 5) | (61 / 8)
#define ORANGE3 ((255 / 8) << 11) | ((201 / 4) << 5) | (102 / 8)
#define BLUE1 ((2 / 8) << 11) | ((9 / 4) << 5) | (219 / 8)
#define BLUE2 ((36 / 8) << 11) | ((43 / 4) << 5) | (253 / 8)
#define BLUE3 ((103 / 8) << 11) | ((108 / 4) << 5) | (254 / 8)
#define DARKBLUE1 ((2 / 8) << 11) | ((8 / 4) << 5) | (185 / 8)
#define DARKBLUE2 ((1 / 8) << 11) | ((5 / 4) << 5) | (118 / 8)
#define RED1 ((255 / 8) << 11) | ((0 / 4) << 5) | (0 / 8)
#define RED2 ((255 / 8) << 11) | ((61 / 4) << 5) | (61 / 8)
#define RED3 ((255 / 8) << 11) | ((122 / 4) << 5) | (122 / 8)
#define CACTUS1 ((196 / 8) << 11) | ((235 / 4) << 5) | (20 / 8)
#define CACTUS2 ((217 / 8) << 11) | ((242 / 4) << 5) | (103 / 8)
#define CACTUS3 ((231 / 8) << 11) | ((247 / 4) << 5) | (158 / 8)
#define YELLOW1 ((235 / 8) << 11) | ((254 / 4) << 5) | (1 / 8)
#define YELLOW2 ((239 / 8) << 11) | ((254 / 4) << 5) | (62 / 8)
#define YELLOW3 ((244 / 8) << 11) | ((254 / 4) << 5) | (123 / 8)
#define MAGENTA1 ((245 / 8) << 11) | ((0 / 4) << 5) | (245 / 8)
#define MAGENTA2 ((255 / 8) << 11) | ((82 / 4) << 5) | (255 / 8)
#define MAGENTA3 ((255 / 8) << 11) | ((184 / 4) << 5) | (255 / 8)
#define CYAN1 ((0 / 8) << 11) | ((255 / 4) << 5) | (255 / 8)
#define CYAN2 ((122 / 8) << 11) | ((255 / 4) << 5) | (255 / 8)
#define CYAN3 ((204 / 8) << 11) | ((255 / 4) << 5) | (255 / 8)
#define PINK1 ((230 / 8) << 11) | ((7 / 4) << 5) | (92 / 8)
#define PINK2 ((249 / 8) << 11) | ((60 / 4) << 5) | (132 / 8)
#define PINK3 ((251 / 8) << 11) | ((131 / 4) << 5) | (177 / 8)
#define GREEN1 ((15 / 8) << 11) | ((186 / 4) << 5) | (15 / 8)
#define GREEN2 ((36 / 8) << 11) | ((238 / 4) << 5) | (36 / 8)
#define GREEN3 ((103 / 8) << 11) | ((243 / 4) << 5) | (103 / 8)
#define GREY1 ((128 / 8) << 11) | ((128 / 4) << 5) | (128 / 8)
#define GREY2 ((168 / 8) << 11) | ((168 / 4) << 5) | (168 / 8)
#define GREY3 ((200 / 8) << 11) | ((200 / 4) << 5) | (200 / 8)
#define PURPLE1 ((92 / 8) << 11) | ((0 / 4) << 5) | (92 / 8)
#define PURPLE2 ((133 / 8) << 11) | ((0 / 4) << 5) | (133 / 8)
#define PURPLE3 ((173 / 8) << 11) | ((0 / 4) << 5) | (173 / 8)
#define BROWN1 ((41 / 8) << 11) | ((10 / 4) << 5) | (10 / 8)
#define BROWN2 ((73 / 8) << 11) | ((19 / 4) << 5) | (19 / 8)
#define BROWN3 ((106 / 8) << 11) | ((27 / 4) << 5) | (27 / 8)
#define BROWN4 ((138 / 8) << 11) | ((35 / 4) << 5) | (35 / 8)
#define BROWN5 ((171 / 8) << 11) | ((43 / 4) << 5) | (43 / 8)
#define BROWN6 ((203 / 8) << 11) | ((52 / 4) << 5) | (52 / 8)
#define BROWN7 ((212 / 8) << 11) | ((84 / 4) << 5) | (84 / 8)
#define BEIGE1 ((221 / 8) << 11) | ((221 / 4) << 5) | (136 / 8)
#define BEIGE2 ((230 / 8) << 11) | ((230 / 4) << 5) | (168 / 8)
#define BEIGE3 ((235 / 8) << 11) | ((235 / 4) << 5) | (184 / 8)


#define YP A2
#define XM A3
#define YM 8
#define XP 9

TouchScreen ts = TouchScreen(XP, YP, XM, YM, 400);
Elegoo_TFTLCD tft(LCD_CS, LCD_CD, LCD_WR, LCD_RD, LCD_RESET);

TSPoint p;

int data[6];
int infos[6];

int xjoy1, yjoy1, xjoy2, yjoy2;
float angley1 = 0;
float angley2 = 0;

short menu = 0;
short startingmenuvariable = 0;
short menulaunch = 0;

int timer = 0;
int timer2 = 0;
int delaybutton4, delaybutton5;
int avoidlag = 0;

double connecterror = 0;
double turn = 0;
double connectionvalue = 0;

//template C
int flaps = 0;
int pwmthrust = 0;

//template D
int dataOldValues = 0;


void setup() {
  Serial.begin(9600);

  tft.reset();
  tft.begin(0x9341);
  tft.fillScreen(BLACK);
  tft.setRotation(3);

  Mirf.cePin = 10;
  Mirf.csnPin = 11;
  Mirf.spi = &MirfHardwareSpi;
  Mirf.init();

  Mirf.channel = 1;
  Mirf.payload = sizeof(int) * 6;
  Mirf.config();

  Mirf.setTADDR((byte *)"nrf02");
  Mirf.setRADDR((byte *)"nrf01");

  data[4] = 0;
  data[5] = 0;
}


void menuAstatis() {
  tft.fillCircle(40, 0, 100, MAGENTA);
  tft.fillCircle(280, 0, 25, YELLOW);
  tft.fillRect(21, 21, 79, 80, BLACK);
  tft.fillRect(121, 21, 79, 80, BLACK);

  tft.drawCircle(65, 170, 40, WHITE);
  tft.drawCircle(175, 170, 40, WHITE);
  tft.fillRect(10, 110, 200, 30, BLACK);
  tft.fillRect(10, 200, 200, 40, BLACK);
  tft.fillCircle(100, 240, 30, CYAN);

  tft.drawRect(20, 20, 80, 81, WHITE);
  tft.drawRect(120, 20, 80, 81, WHITE);
  tft.setCursor(220, 35);
  tft.setTextColor(RED);
  tft.setTextSize(1);
  tft.println("PWM5 :");
  tft.setCursor(220, 55);
  tft.println("PWM6 :");
  tft.setCursor(220, 75);
  tft.println("PWM9 :");
  tft.setCursor(215, 95);
  tft.println("PWM10 :");

  tft.setTextColor(GREEN3);
  tft.setCursor(45, 150);
  tft.println("Angle X");
  tft.setCursor(155, 150);
  tft.println("Angle Y");

  if (avoidlag == 0) {
    tft.fillRoundRect(245, 120, 55, 40, 3, RED);
    tft.fillRoundRect(248, 123, 49, 34, 3, BLACK);
  } else {
    tft.fillRoundRect(245, 120, 55, 40, 3, GREEN);
    tft.fillRoundRect(248, 123, 49, 34, 3, BLACK);
  }

  tft.fillRoundRect(245, 180, 55, 40, 3, RED);
  tft.fillRoundRect(248, 183, 49, 34, 3, BLACK);
  tft.setTextSize(1);
  tft.setCursor(263, 195);
  tft.setTextColor(CYAN);
  tft.println("Back ");
}

void menuA() {


  if (infos[0] > 179) {
    infos[0] = 179;
  }
  if (infos[1] > 179) {
    infos[1] = 179;
  }
  if (infos[2] > 179) {
    infos[2] = 179;
  }
  if (infos[3] > 179) {
    infos[3] = 179;
  }
  tft.fillCircle(xjoy1, yjoy1, 2, BLACK);
  tft.fillCircle(xjoy2, yjoy2, 2, BLACK);

  tft.fillRect(54, 170, 20, 10, BLACK);
  tft.fillRect(164, 170, 20, 10, BLACK);
  tft.fillRect(259, 34, 24, 71, BLACK);

  xjoy1 = map(data[1], 0, 1024, 31, 89);
  yjoy1 = map(data[0], 1024, 0, 31, 89);
  tft.fillCircle(xjoy1, yjoy1, 2, BLUE);
  xjoy2 = map(data[3], 0, 1024, 131, 189);
  yjoy2 = map(data[2], 1024, 0, 31, 89);
  tft.fillCircle(xjoy2, yjoy2, 2, BLUE);

  timer2++;
  if (timer2 > 30) {
    timer2 = 20;
  }

  if (p.z > ts.pressureThreshhold && p.x < 350 && p.y > 300) {
    if (avoidlag == 1 && timer2 >= 20) {
      avoidlag = 0;
      tft.fillRect(49, 119, 140, 10, BLACK);
      tft.fillRoundRect(245, 120, 55, 40, 3, RED);
      tft.fillRoundRect(248, 123, 49, 34, 3, BLACK);
      timer2 = 0;
    }
    if (avoidlag == 0 && timer2 >= 20) {
      avoidlag = 1;
      tft.setTextSize(1);
      tft.setCursor(50, 120);
      tft.setTextColor(RED3);
      tft.println("[Avoid lag] activated !");
      tft.fillRoundRect(245, 120, 55, 40, 3, GREEN);
      tft.fillRoundRect(248, 123, 49, 34, 3, BLACK);
      timer2 = 0;
    }
  }

  if (avoidlag == 0) {
    tft.setTextColor(GREEN1);
    tft.setCursor(60, 170);
    tft.println(infos[4]);
    tft.setCursor(170, 170);
    tft.println(infos[5]);

    tft.setCursor(260, 35);
    tft.setTextColor(RED);
    tft.setTextSize(1);
    tft.println(infos[0]);
    tft.setCursor(260, 55);
    tft.println(infos[1]);
    tft.setCursor(260, 75);
    tft.println(infos[2]);
    tft.setCursor(260, 95);
    tft.println(infos[3]);
  } else if (avoidlag == 1) {
  }
}


void menuBstatis() {
  tft.fillCircle(50, 0, 80, PINK1);

  tft.fillCircle(240, 20, 130, ORANGE);

  tft.fillRect(31, 31, 114, 115, BLACK);
  tft.fillRect(176, 31, 114, 115, BLACK);

  tft.drawRect(30, 30, 115, 116, WHITE);
  tft.drawRect(175, 30, 115, 116, WHITE);
  tft.setCursor(40, 160);
  tft.setTextColor(CYAN);
  tft.setTextSize(1);
  tft.println("X:");
  tft.setCursor(40, 175);
  tft.println("Y:");
  tft.setCursor(160, 160);
  tft.println("X:");
  tft.setCursor(160, 175);
  tft.println("Y:");
  tft.fillRoundRect(39, 199, 62, 32, 3, WHITE);
  tft.fillRoundRect(139, 199, 62, 32, 3, WHITE);

  if (data[4] == 1) {
    tft.fillRoundRect(41, 201, 58, 28, 3, GREEN);
  } else {
    tft.fillRoundRect(41, 201, 58, 28, 3, RED);
  }

  if (data[5] == 1) {
    tft.fillRoundRect(141, 201, 58, 28, 3, GREEN);
  } else {
    tft.fillRoundRect(141, 201, 58, 28, 3, RED);
  }

  tft.fillRoundRect(245, 180, 55, 40, 3, RED);
  tft.fillRoundRect(248, 183, 49, 34, 3, BLACK);
  tft.setTextSize(1);
  tft.setCursor(263, 195);
  tft.setTextColor(CYAN);
  tft.println("Back ");
}

void menuB() {
  tft.drawCircle(xjoy2, yjoy2, 4, BLACK);
  tft.drawCircle(xjoy1, yjoy1, 4, BLACK);
  tft.fillRect(54, 159, 26, 25, BLACK);
  tft.fillRect(174, 159, 26, 25, BLACK);


  xjoy1 = map(data[1], 0, 1024, 41, 134);
  yjoy1 = map(data[0], 1024, 0, 41, 134);
  tft.drawCircle(xjoy1, yjoy1, 4, BLUE);
  xjoy2 = map(data[3], 0, 1024, 186, 279);
  yjoy2 = map(data[2], 1024, 0, 41, 134);
  tft.drawCircle(xjoy2, yjoy2, 4, BLUE);
  tft.setCursor(55, 160);
  tft.setTextColor(CYAN);
  tft.setTextSize(1);
  tft.println(data[1]);
  tft.setCursor(55, 175);
  tft.println(data[0]);
  tft.setCursor(175, 160);
  tft.println(data[3]);
  tft.setCursor(175, 175);
  tft.println(data[2]);


  if (timer <= 100) {
    timer++;
  }
  if (p.z > ts.pressureThreshhold) {
    if (p.x > 700 && p.y < 300 && data[4] == 1 && timer >= 5) {
      data[4] = 0;
      tft.fillRoundRect(41, 201, 58, 28, 3, RED);
      timer = 0;
    } else {
    }
    if (p.x > 700 && p.y < 300 && data[4] == 0 && timer >= 5) {
      data[4] = 1;
      tft.fillRoundRect(41, 201, 58, 28, 3, GREEN);
      timer = 0;
    } else {
    }
    if (p.x < 700 && p.y < 300 && data[5] == 1 && timer >= 5) {
      data[5] = 0;
      tft.fillRoundRect(141, 201, 58, 28, 3, RED);
      timer = 0;
    } else {
    }
    if (p.x < 700 && p.y < 300 && data[5] == 0 && timer >= 5) {
      data[5] = 1;
      tft.fillRoundRect(141, 201, 58, 28, 3, GREEN);
      timer = 0;
    } else {
    }
  }
}

void menuCstatis() {

  tft.fillRoundRect(245, 180, 55, 40, 3, RED);
  tft.fillRoundRect(248, 183, 49, 34, 3, BLACK);
  tft.setTextSize(1);
  tft.setCursor(263, 195);
  tft.setTextColor(CYAN);
  tft.println("Back ");


  tft.drawRoundRect(245, 30, 55, 30, 7, WHITE);
  tft.drawRoundRect(245, 60, 55, 30, 7, WHITE);
  tft.drawRoundRect(245, 90, 55, 30, 7, WHITE);
  tft.drawRoundRect(245, 120, 55, 30, 7, WHITE);
  tft.fillRect(255, 58, 35, 70, BLACK);
  tft.setTextSize(1);
  tft.setTextColor(WHITE);
  tft.setCursor(270, 42);
  tft.println("0");
  tft.setCursor(270, 72);
  tft.println("1");
  tft.setCursor(270, 102);
  tft.println("2");
  tft.setCursor(270, 132);
  tft.println("3");

  tft.setTextSize(1);
  tft.setTextColor(YELLOW);
  tft.setCursor(260, 10);
  tft.println("Flaps");

  tft.drawRoundRect(160, 30, 60, 40, 5, WHITE);
  tft.setCursor(172, 13);
  tft.println("Thrust");

  tft.drawRoundRect(160, 100, 60, 40, 5, WHITE);
  tft.setCursor(179, 83);
  tft.println("Roll");

  tft.drawRoundRect(160, 170, 60, 40, 5, WHITE);
  tft.setCursor(176, 153);
  tft.println("Pitch");
  
  
  tft.drawRoundRect(30, 180, 60, 40, 5, WHITE);
  tft.setCursor(30, 162);
  tft.println("Connection");

  tft.drawRect(30, 30, 110, 110, WHITE);
}

void menuC() {

  tft.fillCircle(xjoy1, yjoy1, 2, BLACK);
  tft.fillRect(181, 44, 18, 8, BLACK);
  tft.fillRect(181, 114, 18, 8, BLACK);
  tft.fillRect(181, 184, 18, 8, BLACK);
  tft.fillRect(49, 195, 25, 8, BLACK);

  if (p.z > ts.pressureThreshhold) {
    if (p.x < 430 && p.x > 280) {
      if (p.y > 720 && p.y < 830) {
        flaps = 0;
        tft.drawRoundRect(249, 124, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 94, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 64, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 34, 47, 23, 5, BLUE3);
      }
      if (p.y > 610 && p.y < 719) {
        flaps = 1;
        tft.drawRoundRect(249, 124, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 94, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 34, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 64, 47, 23, 5, BLUE3);
      }
      if (p.y > 500 && p.y < 609) {
        flaps = 2;
        tft.drawRoundRect(249, 124, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 64, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 34, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 94, 47, 23, 5, BLUE3);
      }
      if (p.y > 380 && p.y < 499) {
        flaps = 3;
        tft.drawRoundRect(249, 34, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 64, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 94, 47, 23, 5, BLACK);
        tft.drawRoundRect(249, 124, 47, 23, 5, BLUE3);
      }
    }
  }

  xjoy1 = map(data[1], 0, 1024, 33, 137);
  yjoy1 = map(data[0], 1024, 0, 33, 136);
  tft.fillCircle(xjoy1, yjoy1, 2, BLUE);

  tft.setTextColor(YELLOW);
  tft.setCursor(182, 45);
  tft.println(infos[3]);  //pwmthrust infos[0]
  tft.setCursor(182, 115);
  tft.println(infos[4]);  //Roll infos[1]
  tft.setCursor(182, 185);
  tft.println(infos[5]);  // Pitch infos[2]
  if(connectionvalue>=0.75){
  tft.setTextColor(GREEN);
  }
  if(connectionvalue<0.75 && connectionvalue>=0.40){
  tft.setTextColor(YELLOW);
  }
  if(connectionvalue<0.40){
  tft.setTextColor(RED);
  }
  tft.setCursor(50, 196);
  tft.println(connectionvalue);  // Pitch infos[2]

  data[3] = 0;
  data[4] = flaps;
  data[5] = 0;
}

void menuDstatis() {
   tft.fillRoundRect(245, 180, 55, 40, 3, RED);
  tft.fillRoundRect(248, 183, 49, 34, 3, BLACK);
  tft.setTextSize(1);
  tft.setCursor(263, 195);
  tft.setTextColor(CYAN);
  tft.println("Back ");

tft.drawRoundRect(30, 30, 150, 60, 3, WHITE);
tft.drawRoundRect(30, 110, 150, 20, 3, WHITE);
tft.setTextSize(1);
 
  tft.setTextColor(YELLOW);
  tft.drawRoundRect(30, 170, 60, 40, 5, WHITE);
  tft.setCursor(30, 152);
  tft.println("Connection");

  tft.drawRoundRect(250, 30, 20, 88, 2, WHITE);

 
}

void menuD() {


tft.fillCircle(map(data[1], 0, 1024, 34, 176), 120, 2, BLACK);
tft.fillCircle(map(data[1], 0, 1024, 34, 176), 120, 2, CYAN);

  data[1] = map(data[1], 0, 1024, -5, 5);//horizontal
  data[0] = map(data[0], 0, 1024, -5, 5);//vertical
  data[2] = map(data[2], 0, 1024, 2, -3);
if(dataOldValues!=data[2]){
 switch(dataOldValues){
    case -2 : 
    tft.fillRoundRect(252, 32, 16, 15, 2, BLACK); break;
    case -1 : 
    tft.fillRoundRect(252, 49, 16, 15, 2, BLACK); break;
    case 0 : 
    tft.fillRoundRect(252, 66, 16, 15, 2, BLACK); break;
    case 1 : 
    tft.fillRoundRect(252, 83, 16, 15, 2, BLACK); break;
    case 2 : 
    tft.fillRoundRect(252, 100, 16, 15, 2, BLACK); break;
    default:
    break;
  }

  switch(data[2]){
    case -2 : 
    tft.fillRoundRect(252, 32, 16, 15, 2, CYAN); break;
    case -1 : 
    tft.fillRoundRect(252, 49, 16, 15, 2, CYAN); break;
    case 0 : 
    tft.fillRoundRect(252, 66, 16, 15, 2, CYAN); break;
    case 1 : 
    tft.fillRoundRect(252, 83, 16, 15, 2, CYAN); break;
    case 2 : 
    tft.fillRoundRect(252, 100, 16, 15, 2, CYAN); break;
    default : 
    break;
  }
}






dataOldValues = data[2];
}



void menuCharactsstatis() {

  tft.fillScreen(BLACK);

  tft.fillCircle(320, 0, 150, BLUE);
  tft.fillCircle(0, 160, 80, GREEN);
  tft.fillCircle(140, 240, 50, RED);

  tft.setCursor(60, 20);
  tft.setTextColor(CYAN);
  tft.setTextSize(1);
  tft.println("Remote Controller Characteristics");
  tft.setCursor(10, 50);
  tft.setTextColor(WHITE);
  tft.println("This controller transmits data using a");
  tft.setCursor(245, 50);
  tft.setTextColor(RED);
  tft.println("nRF24l01");
  tft.setCursor(10, 65);
  tft.setTextColor(RED);
  tft.println("radio module.");
  tft.setCursor(10, 90);
  tft.setTextColor(WHITE);
  tft.println("Packet sent : data, array (6 * int) ");
  tft.setCursor(10, 105);
  tft.println("Packet received : infos, array (6 * int) ");

  tft.setCursor(10, 125);
  tft.println("By default, infos[0,1,2,3] are associated with PWMs");
  tft.setCursor(10, 140);
  tft.println("while infos[4,5] are angles (gyroscope).");
  tft.setCursor(10, 155);
  tft.println("Template A is especially for drone driving.");

  tft.setCursor(10, 175);
  tft.println("CE : D10");
  tft.setCursor(10, 190);
  tft.println("CSN : D11");
  tft.setCursor(100, 175);
  tft.println("MOSI : D51");
  tft.setCursor(100, 190);
  tft.println("MISO : D50");
  tft.setCursor(10, 205);
  tft.println("SCK : D52");


  tft.fillRoundRect(245, 180, 55, 40, 3, RED);
  tft.fillRoundRect(248, 183, 49, 34, 3, BLACK);
  tft.setTextSize(1);
  tft.setCursor(263, 195);
  tft.setTextColor(CYAN);
  tft.println("Back ");
}


void menuCharacts() {
}

void menuXstatis() {
  //put all static elements of your patern here
}

void menuX() {
  //put all dynamic elements of your patern here
}

void startingmenustatis() {
  tft.drawRoundRect(20, 60, 130, 40, 3, WHITE);
  tft.drawRoundRect(170, 60, 130, 40, 3, WHITE);
  tft.drawRoundRect(20, 120, 130, 40, 3, WHITE);
  tft.drawRoundRect(170, 120, 130, 40, 3, WHITE);
  tft.drawRoundRect(20, 180, 205, 40, 3, WHITE);
  tft.setCursor(18, 20);
  tft.setTextColor(CYAN);
  tft.setTextSize(1);
  tft.println("Choose your template for this remote controler !");

  tft.setCursor(51, 67);
  tft.setTextColor(RED);
  tft.println("Template A");
  tft.setCursor(53, 85);
  tft.println("(standart)");
  tft.setCursor(203, 75);
  tft.setTextColor(ORANGE);
  tft.println("Template B");
  tft.setCursor(51, 135);
  tft.setTextColor(YELLOW);
  tft.println("Template C");
  tft.setCursor(203, 135);
  tft.setTextColor(GREEN);
  tft.println("Template D");
  tft.setCursor(51, 195);
  tft.setTextColor(MAGENTA);
  tft.println("Technical Characteristics");

  tft.fillRoundRect(245, 180, 55, 40, 3, RED);
  tft.fillRoundRect(248, 183, 49, 34, 3, BLACK);
  tft.setTextSize(1);
  tft.setCursor(263, 195);
  tft.setTextColor(CYAN);
  tft.println("Back ");
}



void loop() {

  data[0] = analogRead(A8);
  data[1] = analogRead(A9);
  data[2] = analogRead(A10);
  data[3] = analogRead(A11);



  digitalWrite(13, HIGH);
  p = ts.getPoint();
  digitalWrite(13, LOW);
  pinMode(XM, OUTPUT);
  pinMode(YP, OUTPUT);


  if (startingmenuvariable == 0 && menu == 0) {
    startingmenustatis();
    startingmenuvariable = 1;
  }
  if (menu > 0 && p.x < 350 && p.y < 300) {
    tft.fillScreen(BLACK);
    startingmenustatis();
    menu = 0;
    menulaunch = 0;
  }



  if (p.z > ts.pressureThreshhold) {
    if (menu == 0 || menulaunch == 0) {
      if (p.y > 550 && p.x > 600) {
        menu = 1;
      }
      if (p.y > 550 && p.x < 600) {
        menu = 2;
      }
      if (550 > p.y && p.y > 340 && p.x > 600) {
        menu = 3;
      }
      if (550 > p.y && p.y > 340 && p.x < 600) {
        menu = 4;
      }
      if (p.y < 340 && p.x > 400) {
        menu = 5;
      }
    }
  }


  if (menu == 1 && menulaunch != 1) {
    tft.fillScreen(BLACK);
    menuAstatis();
    menulaunch = 1;
  }
  if (menu == 1) {
    menuA();
  }
  if (menu == 2 && menulaunch != 2) {
    tft.fillScreen(BLACK);
    menuBstatis();
    menulaunch = 2;
  }
  if (menu == 2) {
    menuB();
  }
  if (menu == 3 && menulaunch != 3) {
    tft.fillScreen(BLACK);
    menuCstatis();
    menulaunch = 3;
  }
  if (menu == 3) {
    menuC();
  }
  if (menu == 4 && menulaunch != 4) {
    tft.fillScreen(BLACK);
    menuDstatis();
    menulaunch = 4;
  }
  if (menu == 4) {
    menuD();
  }
  if (menu == 5 && menulaunch != 5) {
    tft.fillScreen(BLACK);
    menuCharactsstatis();
    menulaunch = 5;
  }
  if (menu == 5) {
    menuCharacts();
  }


  /*PROGRAM YOUR OWN PATERN HERE : X = the patern' letter / x = the patern' number
  
   if(menu==x && menulaunch != x){
  tft.fillScreen(BLACK);
  menuBstatis();
  menulaunch = x;
 }
 if(menu==x){
  menuX();
 }
  */




  if (Mirf.dataReady()) {
    Mirf.getData((byte *)&infos);
   /* Serial.println(infos[0]);
    Serial.println(infos[1]);
    Serial.println(infos[2]);
    Serial.println(infos[3]);
    Serial.println(infos[4]);
    Serial.println(infos[5]);*/
  }
  else if(!Mirf.dataReady()){
  connecterror = connecterror + 1;
  }

  turn++;
  if(turn>=20.0){
  connectionvalue = 1-(connecterror/turn);
  turn=0;
  connecterror=0;
  Serial.println(connectionvalue);
  }
  delay(5);

  
  Mirf.send((byte *)&data);
  while (Mirf.isSending());
}

#include "Servo.h"
#include <SPI.h>      
#include <Mirf.h>    
#include <nRF24L01.h> 
#include <MirfHardwareSpiDriver.h> 
#include "Wire.h"  
#include "I2Cdev.h"  

Servo servorightleft;
Servo servoballast;

int data[6];
int infos[6];
int pwmrightleft = 0;
int pwmballast = 0;
int iballast = 90;
int irightleft = 90;

float error = 0;
float turn = 0;



void setup() {
  
  //Serial.begin(9600);
  Wire.begin();  
  
  Mirf.cePin = 3; 
  Mirf.csnPin = 4; 
  Mirf.spi = &MirfHardwareSpi; 
  Mirf.init(); 

  Mirf.channel = 1; 
  Mirf.payload = sizeof(int) * 6; 
  Mirf.config(); 

  Mirf.setTADDR((byte *) "nrf01"); 
  Mirf.setRADDR((byte *) "nrf02"); 

  servorightleft.attach(6);
  servoballast.attach(5);

  pinMode(8,OUTPUT);
  
}

void loop() {

 
infos[0] = servoballast.read();
infos[1] = servorightleft.read(); 
infos[2] = 0;
infos[3] = 0;
infos[4] = 0;
infos[5] = 0;


Mirf.send((byte *) &infos); 
while(Mirf.isSending()); 
delay(20);

if(Mirf.dataReady()){
Mirf.getData((byte *) &data); 
}
else{
  error++;
}
turn++;


if(turn==50){
 if((error/turn)*100 >= 95){
  digitalWrite(8,0);
  delay(1000);
  Mirf.init();
  delay(1000);
  Mirf.config();
}
 turn=0;
 error=0;
}


if(data[2]>0){
   pwmballast = 145;
}
if(data[2]<0){
  pwmballast = 35;
}
if(data[2]==0){
  pwmballast = 90;
}
if(servoballast.read()<=pwmballast && iballast!=pwmballast){
  iballast++;
  servoballast.write(iballast);
}
if(servoballast.read()>=pwmballast && iballast!=pwmballast){
  iballast--;
  servoballast.write(iballast);
}



pwmrightleft = map(data[1], -5, 3, 45, 135);
if(data[1]==0){
  servorightleft.write(90);
}
if(servorightleft.read()<=pwmrightleft && irightleft!=pwmrightleft){
  irightleft++;
  servorightleft.write(irightleft);
}
if(servorightleft.read()>=pwmrightleft && irightleft!=pwmrightleft){
  irightleft--;
  servorightleft.write(irightleft);
}


if(data[0]>2){
  digitalWrite(8, 1);
}
else{
  digitalWrite(8,0);
}


if(data[4]==1){
  servoballast.write(35);
  servorightleft.write(90);
  digitalWrite(8,0);
}


}

Credits

MisterBotBreak

48 projects • 152 followers

I love electronics and cats :D !

Contact

Comments

Please log in or sign up to comment.

How to Make an Arduino Submarine Part.1

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction

Approach

Basic principle

Development

Future projects

Tipeee

Code

Emmitter Code | Check up "How to make a RC Controller"

Submarine Code

Credits

MisterBotBreak

Comments

Embed the widget on your own site

How to Make an Arduino Submarine Part.1

How to Make an Arduino Submarine Part.1

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Introduction

Approach

Basic principle

Development

Future projects

Tipeee

Code

Emmitter Code | Check up "How to make a RC Controller"

Submarine Code

Credits

MisterBotBreak

Comments

Related channels and tags