Robotas

/*
* Getting Started example sketch for nRF24L01+ radios
* This is a very basic example of how to send data from one node to another
* Updated: Dec 2014 by TMRh20
*/

#include <SPI.h>
#include "RF24.h"

//Motoru pajungimas
// priekis desine
int priekis_A = 4, priekis_in1 = 22, priekis_in2 = 24;
// priekis kaire
int priekis_B = 5, priekis_in3 = 26, priekis_in4 = 28;
// galas desine
int galas_A = 3, galas_in1 = 23, galas_in2 = 25;
// galas kaire
int galas_B = 2, galas_in3 = 27, galas_in4 = 29;

#define trigPin 36
#define echoPin 38

//Ikeliamas papildomos funkcijos
#include "funkcijos.h";


/* Hardware configuration: Set up nRF24L01 radio on SPI bus plus pins 9 & 8 */
RF24 radio(9,8);
/**********************************************************/

byte addresses[][6] = {"2Node","1Node"};

// Used to control whether this node is sending or receiving
bool role = 0;

void setup() {
  Serial.begin(9600);
  radio.begin();
  radio.setChannel(21);
  radio.setPALevel(RF24_PA_MAX);
  radio.setDataRate(RF24_1MBPS);
  //radio.setAutoAck(1);                     // Ensure autoACK is enabled
  //radio.setRetries(2,15);                  // Optionally, increase the delay between retries & # of retries

  //radio.setCRCLength(RF24_CRC_8);          // Use 8-bit CRC for performance

  radio.openWritingPipe(addresses[0]);
  radio.openReadingPipe(1,addresses[1]);

  // Start the radio listening for data
  radio.startListening();
  //radio.printDetails();
}

void loop() {

int greitis_a=0, greitis_b=0;
 //Siunciamu duomenu masyvas
unsigned long data_get[5];
unsigned long data_sent[5];
int a[5];
long duration, distance=20;
//digitalWrite(trigPin, LOW);  // Added this line
//delayMicroseconds(2); // Added this line
//digitalWrite(trigPin, HIGH);
//delayMicroseconds(10); // Added this line
//digitalWrite(trigPin, LOW);
//duration = pulseIn(echoPin, HIGH);
//distance = (duration/2) / 29.1;

//siunciami duomenys atgal
    data_sent[0]=distance;
    data_sent[1]=greitis_a;
    data_sent[2]=greitis_b;

    if( radio.available()){
      while (radio.available()) {
        radio.read( &data_get, sizeof(unsigned long) );
      }
      radio.stopListening();
      radio.write( &data_sent, sizeof(unsigned long) );
      radio.startListening();
      Serial.println("Issiustas atsakymas");
   }


  Serial.print("DATA X - ");
  Serial.print(data_get[0]);
  Serial.print(" //// DATA Y - ");
  Serial.println(data_get[1]);

//vaziuojam
  if(a[1]>530 && distance>15){
    greitis_a=128+((a[1]-512)/4);
    if(greitis_a>255){greitis_a=255;}
    pirmyn(greitis_a);}else
  if(a[1]<470){
    greitis_a=128+((512-a[1])/4);
    if(greitis_a>255){greitis_a=255;}
  atgal(greitis_a);}else
  if(a[0]>530){
    greitis_b=128+((a[0]-512)/4);
    if(greitis_b>255){greitis_b=255;}
  kaire(greitis_b);}else
  if(a[0]<470){
    greitis_b=128+((512-a[0])/4);
    if(greitis_b>255){greitis_b=255;}
  desine(greitis_b);}else{
    stop();}

} // Loop