Portal 2 Turret - Master Turret Control of Portal 2 Turrets

The Master Turret Control for controlling multiple Portal turrets per my other build.

Mar 12, 2019

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robots

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Arduino Nano R3

Tools and machines

3D Printer (generic)

Project description

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MTC code

c_cpp

My code for the MTC

1/* Master Turret Control - Actual
2 *  Chris Nowak - MAR 2019
3 *   This is the handheld MTC module.  
4 *  https://www.instructables.com/member/ChrisN219/
5   *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
6   * 
7 *  This code includes all the features needed to control up to three turrets,
8   *  perform the Cara Mia Opera, Chat Time and Manual mode.
9 *  The turrets are   featured on another build.  The turret
10 *  will operate autonomously using this   code without the MTC.
11 *  
12 *  The code is built to work with three turrets,   but each will operate independently.
13 *  Lots of debugging code left in.  Use   or clean up as desired.  It's mostly debugged,
14 *  but isn't perfect.  Given   the price you paid, I figure that's ok! ;)
15*/
16
17#include <RF24.h>
18#include   <RF24Network.h>
19#include <SPI.h>
20#include <Adafruit_GFX.h>
21#include <Adafruit_SSD1306.h>
22
23Adafruit_SSD1306   display(4);
24#define LOGO32_GLCD_HEIGHT 32 
25#define LOGO32_GLCD_WIDTH  32 
26static   const unsigned char PROGMEM logo32_glcd_bmp[] =
27{ B00000000, B00000001, B10000000,   B00000000,
28  B00000000, B00000110, B01100000, B00000000,
29  B00000000, B00011000,   B00011000, B00000000,
30  B00000000, B00010000, B00001000, B00000000,
31  B00000000,   B00110000, B00001100, B00000000,
32  B00001100, B00001000, B00010000, B00011000,
33   B00110000, B00011000, B00011000, B00001100,
34  B01110000, B00010001, B10001000,   B00001110,
35  B01100000, B00110011, B11001100, B00000110,
36  B01100000, B00100011,   B11000100, B00000110,
37  B11000000, B00110001, B10001100, B00000011,
38  B11000000,   B00100000, B00000100, B00000011,
39  B11000000, B00110000, B00001100, B00000011,
40   B11000000, B00010000, B00001000, B00000011,
41  B01100000, B00010000, B00001000,   B00000110,
42  B00110000, B00001100, B00110000, B00001100,
43
44  B00011000,   B00000011, B11000000, B00011000,
45  B00000110, B00001101, B10110000, B01100000,
46   B00000000, B00110001, B10001100, B00000000,
47  B00000000, B11000001, B10000011,   B00000000,
48  B00000001, B10000001, B10000001, B10000000,
49  B00000110, B00000001,   B10000000, B01100000,
50  B00011000, B00000001, B10000000, B00011000,
51  B00110000,   B00000001, B10000000, B00001100,
52  B01100000, B00000001, B10000000, B00000110,
53   B01100000, B00000001, B10000000, B00000110,
54  B11000000, B00000001, B10000000,   B00000011,
55  B11000000, B00000001, B10000000, B00000011,
56  B11000000, B00000001,   B10000000, B00000011,
57  B11000000, B00000001, B10000000, B00000011,
58  B11000000,   B00000001, B10000000, B00000011,
59  B11000000, B00000000, B00000100, B00000011   };
60
61RF24 radio(10, 9);                // nRF24L01 (CE,CSN)
62RF24Network   network(radio);
63const uint64_t this_node = 00;    // 
64const uint64_t RED =   01;       // turret #1 - Red Turret
65const uint64_t WHT = 02;       // turret   #2 - White Turret
66const uint64_t BLU = 03;       // turret #3 - Blue Turret 
67
68byte   pb1 = A2; // Select (GRN) "X"
69byte pb2 = A1; // Select 2 (WHT) "T"
70byte   pb3 = A0; // Break (Red) "<"
71byte joyX=A6;
72byte joyY=A7;
73byte joyButton   = A3; // joystick press
74
75byte ledManual = 5; // LED for signalling Manual   Mode (BLUE)
76byte ledNotReady = 6; // LED for signalling that turrets busy (RED)
77byte   ledOkToGo = 7; // LED signalling ready for action (GREEN)
78
79byte power = 8;   // Through a pinout to show Nano powered and working
80int goState; // Aria =1,   Chatty = 2, Manual = 3
81int pb1State;
82int pb2State;
83int pb3State;
84byte   joyButtonState;
85byte busyWhite = 0;
86byte busyRed = 0;
87byte busyBlue = 0;
88byte   notReady;
89byte DataRead;
90int x=0;
91int y=0;
92int z=0;
93byte MainBusy   = 1;
94byte MainAria = 0;
95byte MainChat = 0;
96byte MainManual = 0;
97byte   MenuSelection = 0;
98int Rx = 0;
99int Wx = 0;
100int Bx = 0;
101byte RedHere   = 0;
102byte WhiteHere = 0;
103byte BlueHere = 0;
104byte selectTurret;
105
106///////////////////////////////////////////////////////////////////   
107//============================ SETUP ============================//
108///////////////////////////////////////////////////////////////////
109void   setup() {
110  Serial.begin(9600);//
111  SPI.begin();
112  radio.begin();
113  radio.setPALevel(RF24_PA_LOW);
114   radio.setDataRate(RF24_2MBPS);
115  radio.enableAckPayload();
116  network.begin(70,   this_node);  //(channel, node address)
117  pinMode(pb1, INPUT_PULLUP);
118  pinMode(pb2,   INPUT_PULLUP);
119  pinMode(pb3, INPUT_PULLUP);
120  pinMode(joyButton, INPUT_PULLUP);
121   pinMode(ledManual, OUTPUT);
122  pinMode(ledNotReady, OUTPUT);
123  pinMode(ledOkToGo,   OUTPUT);
124  pinMode(power, OUTPUT);
125  radio.printDetails();
126  digitalWrite   (power, HIGH);
127  display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with   the I2C addr 
128  display.clearDisplay(); 
129  display.display();
130  display.setRotation(2);   // yellow band on bottom. 0 is for yellow on top
131  Splash();
132  delay (5000);   // Display spash screen for 5 seconds.
133  display.clearDisplay();
134  MenuSelection   = 1;
135  for (int i=0; i <= 20; i++){ // quick net check to see which turrets around
136     ReadNet();
137    TurretCheck();
138  }
139}
140///////////////////////////////////////////////////////////////////   
141//========================= MAIN LOOP ===========================//
142///////////////////////////////////////////////////////////////////
143void   loop() { 
144  //=====  No turrets connected =====//
145  while ((RedHere == 0)   && (WhiteHere == 0) && (BlueHere == 0)){
146    ReadNet();
147    display.setTextColor(WHITE);
148     display.setTextSize(0);
149    display.setCursor(20,0); display.print("No Turrets!");
150     display.setCursor(0,8); display.print("Check to make sure ");
151    display.setCursor(0,16);   display.print("Turrets powered up");
152    display.setCursor(0,24); display.print("and   ready to go...");
153    display.display();
154    display.clearDisplay ();
155   }
156
157  //=====  Turret Busy somewhere =====//
158  while ((busyWhite == 1)   || (busyRed == 1) || (busyBlue == 1)) {
159    BusyScreen();
160    ReadNet();
161     digitalWrite (ledOkToGo, LOW);
162    digitalWrite (ledNotReady, HIGH);
163   }
164  //=====  Read inputs  =====//
165  x=analogRead(joyX);
166  y=analogRead(joyY);
167   pb1State = digitalRead(pb1); // "X"
168  pb2State = digitalRead(pb2); // "T"
169   pb3State = digitalRead(pb3); // "<"
170  joyButtonState = digitalRead(joyButton);   // "."
171  
172  //=====  Main Menu loop - Wait for input or Turret to get busy   =====//
173  if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
174    digitalWrite   (ledOkToGo, HIGH);
175    digitalWrite (ledNotReady, LOW);
176    ReadNet();
177     WriteNet();
178    goState = 0;
179    MainBusy = 0;
180  }
181  //=====  Use   Joystick for menu selection  =====//
182  if (MainBusy == 0) {
183    if (y < 300)   {--MenuSelection;}
184    if (y > 700) {MenuSelection++;}
185    if (MenuSelection   > 3) {MenuSelection = 1;}
186    if (MenuSelection < 1) {MenuSelection = 3;}
187     MainMenu();
188    }
189  //=====  Check turret status  =====//
190  if (pb2State   == 0) {
191    do {
192      TurretCheck(); 
193      pb3State = digitalRead(pb3);
194       WriteNet();
195      ReadNet();
196      Serial.println();   
197    }
198     while (pb3State != 0); // press '<' button to exit status screen
199  }
200   //=====  Go to ARIA Mode  =====//
201  if (((pb1State == 0)||(joyButtonState ==   0)) && (MenuSelection == 1)){
202    MainBusy = 1;
203    goState = 1;
204    digitalWrite   (ledOkToGo, LOW);
205    digitalWrite (ledNotReady, HIGH);
206    AriaMode();
207   }  
208  //=====  Go to CHAT Mode  =====//
209  if (((pb1State == 0)||(joyButtonState   == 0)) && (MenuSelection == 2)) {
210    MainBusy = 1; 
211    goState = 2;
212     digitalWrite (ledOkToGo, LOW);
213    digitalWrite (ledNotReady, LOW);
214    chatMode();   
215  }
216  //=====  Go to MANUAL CONTROL Mode  =====//
217  if (((pb1State ==   0)||(joyButtonState == 0)) && (MenuSelection == 3)) {
218    MainBusy = 1; 
219     goState = 3;
220    digitalWrite (ledOkToGo, LOW);
221    digitalWrite (ledNotReady,   LOW);
222    digitalWrite (ledManual, HIGH);
223    manualControl();
224    } 
225   else {
226    digitalWrite(ledManual, LOW);
227  }
228  //====== Debugging Monitor   ========//
229  Serial.println();
230  Serial.print(F("-MTC-  "));
231  Serial.print(F("goState:   "));Serial.print (goState); Serial.print ("   ");
232/*  Serial.print(F("White   :"));Serial.print (busyWhite); Serial.print ("   ");
233  Serial.print(F("Red   :"));Serial.print (busyRed); Serial.print ("   ");
234  Serial.print(F("Blue   :"));Serial.print (busyBlue); Serial.print ("   ");
235  Serial.print(F("RedHr   :"));Serial.print (RedHere); Serial.print ("   ");
236  Serial.print(F("WhtHr   :"));Serial.print (WhiteHere); Serial.print ("   ");
237  Serial.print(F("BluHr   :"));Serial.print (BlueHere); Serial.print ("   ");
238  Serial.print(F("x :"));Serial.print   (x); Serial.print ("\	");
239  Serial.print(F("y :"));Serial.print (y); Serial.print   ("\	");
240*/
241  Serial.print(F("pb1 :"));Serial.print (pb1State); Serial.print   ("   ");
242  Serial.print(F("pb2 :"));Serial.print (pb2State); Serial.print   ("   ");
243  Serial.print(F("pb3 :"));Serial.print (pb3State); Serial.print   ("   ");
244  Serial.print(F("jy4 :"));Serial.print (joyButtonState); Serial.print   ("   ");
245}
246///////////////////////////////////////////////////////////////////   
247//======================= DISPLAY SCREENS =======================//
248///////////////////////////////////////////////////////////////////
249
250//-------------   Opening Splash Screen ---------------//
251void Splash (){
252  display.clearDisplay();
253   display.setTextColor(WHITE);
254  display.drawBitmap(0, 0,  logo32_glcd_bmp, 32,   32, 1);
255  display.drawBitmap(46, 0,  logo32_glcd_bmp, 32, 32, 1);
256  display.drawBitmap(92,   0,  logo32_glcd_bmp, 32, 32, 1);
257  display.fillRect(0,24,124,8, BLACK);
258  display.setCursor(4,24);   display.print("== Turret Control ==");
259  display.display();
260}
261//-------------   Main Menu ---------------//
262void MainMenu () { // display menu
263  display.setTextSize(0);   // display text on screen
264  display.setTextColor(WHITE);
265  if (MenuSelection   == 1) {
266    display.setTextSize(0);
267    display.setCursor(0,24); display.print("-----   SELECTION -----");
268    display.setCursor(24,0); display.print(" == ARIA ==");
269     display.setCursor(24,8); display.print("    Chat");
270    display.setCursor(24,16);   display.print("   Manual");}
271  if (MenuSelection == 2) {
272    display.setCursor(0,24);   display.print("----- SELECTION -----");
273    display.setCursor(24,0); display.print("     Aria");
274    display.setCursor(24,8); display.print(" == CHAT ==");
275     display.setCursor(24,16); display.print("   Manual");}
276  if (MenuSelection   == 3) {
277    display.setCursor(0,24); display.print("----- SELECTION -----");
278     display.setCursor(24,0); display.print("    Aria");
279    display.setCursor(24,8);   display.print("    Chat");
280    display.setCursor(24,16); display.print("==   MANUAL ==");}
281  display.display();
282  display.clearDisplay ();
283}
284//-------------   Busy Screen ---------------//
285void BusyScreen () { // display menu
286  display.setTextSize(0);   // display text on screen
287  display.setTextColor(WHITE);
288  display.setTextSize(0);
289   display.setCursor(20,24); display.print("BUSY RIGHT NOW");
290  display.setCursor(0,0);   display.print("Sorry, I'm busy ");
291  display.setCursor(0,8); display.print("right   now, dealing");
292  display.setCursor(0,16); display.print("with you people...");
293   display.display();
294  display.clearDisplay ();
295}
296
297//-------- Turret   Check Screen ---------------//
298void TurretCheck() { 
299    display.setTextColor(WHITE);
300     display.setTextSize(0);
301    display.setCursor(26,24); display.print("Turret   Status");
302    
303    display.setCursor(0,0); display.print("Red: ");
304     if (busyRed == 1) {display.setCursor(38,0); display.print ("Busy");}
305    else   if (RedHere == 1) {display.setCursor(38,0); display.print ("Ready");}
306    else   {display.setCursor(38,0); display.print ("not available");} 
307     
308    display.setCursor(0,8);   display.print("White: ");
309    if (busyWhite == 1) {display.setCursor(38,8);   display.print ("Busy");}
310    else if (WhiteHere == 1) {display.setCursor(38,8);   display.print ("Ready");}
311    else {display.setCursor(38,8); display.print   ("not available");} 
312
313    display.setCursor(0,16); display.print("Blue:   ");
314    if (busyBlue == 1) {display.setCursor(38,16); display.print ("Busy");}
315     else if (BlueHere == 1) {display.setCursor(38,16); display.print ("Ready");}
316     else {display.setCursor(38,16); display.print ("not available");} 
317    
318     display.display();
319    display.clearDisplay ();
320}
321///////////////////////////////////////////////////////////////////   
322//======================= ARIA MODE =============================//
323///////////////////////////////////////////////////////////////////
324void   AriaMode () { 
325  for (int i=0; i <= 10; i++){ // Make sure the turrets get the   message.
326    WriteNet();
327   }
328  MenuSelection = 1;
329  int i=0;
330  goState   = 0;
331  do {
332    i++;
333    display.setTextSize(2); // display text on screen
334     display.setTextColor(WHITE);
335    display.setCursor(8,8); display.print("ARIA   MODE");
336    display.fillRect(0,24,120,4, WHITE); // 
337    display.fillRect(0+(i),2,40,4,   WHITE);;
338    display.display();
339    display.clearDisplay ();
340    pb3State   = digitalRead(pb3);
341    ReadNet();
342    WriteNet();
343    if (i > 80) (i =   0);
344    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
345      return;
346     }
347  }
348  while (pb3State != 0); 
349  for (int i=0; i <= 10; i++){
350     WriteNet();
351  }
352}
353///////////////////////////////////////////////////////////////////   
354//======================= CHAT MODE =============================//
355///////////////////////////////////////////////////////////////////
356void   chatMode() {
357   for (int i=0; i <= 10; i++){ // Make sure the turrets get the   message.
358    WriteNet();
359  }
360  Serial.println();
361  digitalWrite (ledOkToGo,   LOW);
362  digitalWrite (ledNotReady, HIGH);
363  MenuSelection = 2;
364  int i=0;
365   goState = 0;
366  do {
367    WriteNet();
368    ReadNet();
369    Serial.println();
370     i++;
371    display.setTextSize(2); // display text on screen
372    display.setTextColor(WHITE);
373     display.setCursor(8,8); display.print("CHAT MODE");
374    display.fillRect(0,24,120,4,   WHITE); // 
375    display.fillRect(0+i,2,40,4, WHITE);
376    display.display();
377     display.clearDisplay ();
378    pb3State = digitalRead(pb3);
379    if (i >   80) (i = 0);
380    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
381       return;
382    }
383  }
384  while (pb3State != 0);
385  for (int i=0; i <=   10; i++){
386    WriteNet();
387  }
388}
389///////////////////////////////////////////////////////////////////   
390//======================= MANUAL CONTROL ========================//
391///////////////////////////////////////////////////////////////////
392void   manualControl() {
393  WriteNet();
394  Serial.println();
395  selectTurret = 2;
396   MenuSelection = 3;
397  display.setTextSize(2); // display text on screen
398   display.setTextColor(WHITE);
399  display.setCursor(0,8); display.print("MANUAL   CTL");
400  display.fillRect(0,24,128,4, WHITE); // 
401  display.fillRect(0,2,128,4,   WHITE);;
402  display.display();
403  do {
404    x=analogRead(joyX);
405    y=analogRead(joyY);
406     pb1State = digitalRead(pb1); // Fire (GRN)
407    pb2State = digitalRead(pb2);   // Say random comment (WHT)
408    pb3State = digitalRead(pb3); // Break (RED)
409     WriteNet();
410    Serial.println();
411  }
412  while (pb3State != 0);
413   goState = 0;
414  display.clearDisplay ();
415  ReadNet();
416  for (int i=0;   i <= 10; i++){
417    WriteNet();
418  }
419  Serial.println();
420}
421
422///////////////////////////////////////////////////////////////////   
423//========================= RECEIVING ===========================//
424///////////////////////////////////////////////////////////////////
425void   ReadNet(){
426  network.update();
427  for (int i=0; i <= 10; i++){
428    if (   network.available() )  {
429      RF24NetworkHeader header;
430      network.peek(header);
431       network.read(header, &DataRead, sizeof(DataRead));
432      if (header.from_node   == 01){  // get data from RED
433        busyRed = DataRead; 
434        RedHere   = 1;} // RED is recognized
435      if (header.from_node == 02){
436        busyWhite   = DataRead;
437        WhiteHere = 1;}      
438      if (header.from_node == 03){
439         busyBlue = DataRead;
440        BlueHere = 1;}   
441    } 
442  }
443}
444///////////////////////////////////////////////////////////////////   
445//========================= SENDING ===========================//
446///////////////////////////////////////////////////////////////////
447void   WriteNet(){
448  network.update();
449  int payload [] = {x, y, pb1State, pb2State,   pb3State, goState}; 
450
451  RF24NetworkHeader header14(RED);
452  bool ok14 =   network.write(header14, &payload, sizeof(payload));
453  if (ok14) {
454    Rx =   0;
455    Serial.print("RED ok14   ");}
456  else {
457    Rx++;
458    Serial.print("--------    ");}
459     
460  RF24NetworkHeader header16(WHT);
461  bool ok16 = network.write(header16,   &payload, sizeof(payload));
462  if (ok16) {
463    Wx = 0;
464    Serial.print("WHT   ok16   ");}
465  else {
466    Wx++;
467    Serial.print("--------   ");}
468
469   RF24NetworkHeader header18(BLU);
470  bool ok18 = network.write(header18, &payload,   sizeof(payload));
471  if (ok18) {
472    Bx = 0;
473    Serial.print("BLU ok18    ");}
474  else {
475    Bx++;
476    Serial.print("--------   ");}
477    
478   if (Rx >= 10){RedHere = 0;}  // to check if communication lost and record it.
479   else {RedHere = 1;}
480  if (Wx >= 10){WhiteHere = 0;}
481  else WhiteHere = 1;
482   if (Bx >= 10){BlueHere = 0;}
483  else {BlueHere = 1;}
484  
485   Serial.print(F("Rx   :"));Serial.print (Rx); Serial.print ("   ");
486   Serial.print(F("RedHere   :"));Serial.print (RedHere); Serial.print ("   ");
487   Serial.print(F("Wx   :"));Serial.print (Wx); Serial.print ("   ");
488   Serial.print(F("WhiteHere   :"));Serial.print (WhiteHere); Serial.print ("   ");
489   Serial.print(F("Bx   :"));Serial.print (Bx); Serial.print ("   ");
490   Serial.print(F("BlueHere   :"));Serial.print (BlueHere); Serial.print ("   ");
491}
492

/* Master Turret Control - Actual
 *  Chris Nowak - MAR 2019
 *   This is the handheld MTC module.  
 *  https://www.instructables.com/member/ChrisN219/
   *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
   * 
 *  This code includes all the features needed to control up to three turrets,
   *  perform the Cara Mia Opera, Chat Time and Manual mode.
 *  The turrets are   featured on another build.  The turret
 *  will operate autonomously using this   code without the MTC.
 *  
 *  The code is built to work with three turrets,   but each will operate independently.
 *  Lots of debugging code left in.  Use   or clean up as desired.  It's mostly debugged,
 *  but isn't perfect.  Given   the price you paid, I figure that's ok! ;)
*/

#include <RF24.h>
#include   <RF24Network.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

Adafruit_SSD1306   display(4);
#define LOGO32_GLCD_HEIGHT 32 
#define LOGO32_GLCD_WIDTH  32 
static   const unsigned char PROGMEM logo32_glcd_bmp[] =
{ B00000000, B00000001, B10000000,   B00000000,
  B00000000, B00000110, B01100000, B00000000,
  B00000000, B00011000,   B00011000, B00000000,
  B00000000, B00010000, B00001000, B00000000,
  B00000000,   B00110000, B00001100, B00000000,
  B00001100, B00001000, B00010000, B00011000,
   B00110000, B00011000, B00011000, B00001100,
  B01110000, B00010001, B10001000,   B00001110,
  B01100000, B00110011, B11001100, B00000110,
  B01100000, B00100011,   B11000100, B00000110,
  B11000000, B00110001, B10001100, B00000011,
  B11000000,   B00100000, B00000100, B00000011,
  B11000000, B00110000, B00001100, B00000011,
   B11000000, B00010000, B00001000, B00000011,
  B01100000, B00010000, B00001000,   B00000110,
  B00110000, B00001100, B00110000, B00001100,

  B00011000,   B00000011, B11000000, B00011000,
  B00000110, B00001101, B10110000, B01100000,
   B00000000, B00110001, B10001100, B00000000,
  B00000000, B11000001, B10000011,   B00000000,
  B00000001, B10000001, B10000001, B10000000,
  B00000110, B00000001,   B10000000, B01100000,
  B00011000, B00000001, B10000000, B00011000,
  B00110000,   B00000001, B10000000, B00001100,
  B01100000, B00000001, B10000000, B00000110,
   B01100000, B00000001, B10000000, B00000110,
  B11000000, B00000001, B10000000,   B00000011,
  B11000000, B00000001, B10000000, B00000011,
  B11000000, B00000001,   B10000000, B00000011,
  B11000000, B00000001, B10000000, B00000011,
  B11000000,   B00000001, B10000000, B00000011,
  B11000000, B00000000, B00000100, B00000011   };

RF24 radio(10, 9);                // nRF24L01 (CE,CSN)
RF24Network   network(radio);
const uint64_t this_node = 00;    // 
const uint64_t RED =   01;       // turret #1 - Red Turret
const uint64_t WHT = 02;       // turret   #2 - White Turret
const uint64_t BLU = 03;       // turret #3 - Blue Turret 

byte   pb1 = A2; // Select (GRN) "X"
byte pb2 = A1; // Select 2 (WHT) "T"
byte   pb3 = A0; // Break (Red) "<"
byte joyX=A6;
byte joyY=A7;
byte joyButton   = A3; // joystick press

byte ledManual = 5; // LED for signalling Manual   Mode (BLUE)
byte ledNotReady = 6; // LED for signalling that turrets busy (RED)
byte   ledOkToGo = 7; // LED signalling ready for action (GREEN)

byte power = 8;   // Through a pinout to show Nano powered and working
int goState; // Aria =1,   Chatty = 2, Manual = 3
int pb1State;
int pb2State;
int pb3State;
byte   joyButtonState;
byte busyWhite = 0;
byte busyRed = 0;
byte busyBlue = 0;
byte   notReady;
byte DataRead;
int x=0;
int y=0;
int z=0;
byte MainBusy   = 1;
byte MainAria = 0;
byte MainChat = 0;
byte MainManual = 0;
byte   MenuSelection = 0;
int Rx = 0;
int Wx = 0;
int Bx = 0;
byte RedHere   = 0;
byte WhiteHere = 0;
byte BlueHere = 0;
byte selectTurret;

///////////////////////////////////////////////////////////////////   
//============================ SETUP ============================//
///////////////////////////////////////////////////////////////////
void   setup() {
  Serial.begin(9600);//
  SPI.begin();
  radio.begin();
  radio.setPALevel(RF24_PA_LOW);
   radio.setDataRate(RF24_2MBPS);
  radio.enableAckPayload();
  network.begin(70,   this_node);  //(channel, node address)
  pinMode(pb1, INPUT_PULLUP);
  pinMode(pb2,   INPUT_PULLUP);
  pinMode(pb3, INPUT_PULLUP);
  pinMode(joyButton, INPUT_PULLUP);
   pinMode(ledManual, OUTPUT);
  pinMode(ledNotReady, OUTPUT);
  pinMode(ledOkToGo,   OUTPUT);
  pinMode(power, OUTPUT);
  radio.printDetails();
  digitalWrite   (power, HIGH);
  display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with   the I2C addr 
  display.clearDisplay(); 
  display.display();
  display.setRotation(2);   // yellow band on bottom. 0 is for yellow on top
  Splash();
  delay (5000);   // Display spash screen for 5 seconds.
  display.clearDisplay();
  MenuSelection   = 1;
  for (int i=0; i <= 20; i++){ // quick net check to see which turrets around
     ReadNet();
    TurretCheck();
  }
}
///////////////////////////////////////////////////////////////////   
//========================= MAIN LOOP ===========================//
///////////////////////////////////////////////////////////////////
void   loop() { 
  //=====  No turrets connected =====//
  while ((RedHere == 0)   && (WhiteHere == 0) && (BlueHere == 0)){
    ReadNet();
    display.setTextColor(WHITE);
     display.setTextSize(0);
    display.setCursor(20,0); display.print("No Turrets!");
     display.setCursor(0,8); display.print("Check to make sure ");
    display.setCursor(0,16);   display.print("Turrets powered up");
    display.setCursor(0,24); display.print("and   ready to go...");
    display.display();
    display.clearDisplay ();
   }

  //=====  Turret Busy somewhere =====//
  while ((busyWhite == 1)   || (busyRed == 1) || (busyBlue == 1)) {
    BusyScreen();
    ReadNet();
     digitalWrite (ledOkToGo, LOW);
    digitalWrite (ledNotReady, HIGH);
   }
  //=====  Read inputs  =====//
  x=analogRead(joyX);
  y=analogRead(joyY);
   pb1State = digitalRead(pb1); // "X"
  pb2State = digitalRead(pb2); // "T"
   pb3State = digitalRead(pb3); // "<"
  joyButtonState = digitalRead(joyButton);   // "."
  
  //=====  Main Menu loop - Wait for input or Turret to get busy   =====//
  if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
    digitalWrite   (ledOkToGo, HIGH);
    digitalWrite (ledNotReady, LOW);
    ReadNet();
     WriteNet();
    goState = 0;
    MainBusy = 0;
  }
  //=====  Use   Joystick for menu selection  =====//
  if (MainBusy == 0) {
    if (y < 300)   {--MenuSelection;}
    if (y > 700) {MenuSelection++;}
    if (MenuSelection   > 3) {MenuSelection = 1;}
    if (MenuSelection < 1) {MenuSelection = 3;}
     MainMenu();
    }
  //=====  Check turret status  =====//
  if (pb2State   == 0) {
    do {
      TurretCheck(); 
      pb3State = digitalRead(pb3);
       WriteNet();
      ReadNet();
      Serial.println();   
    }
     while (pb3State != 0); // press '<' button to exit status screen
  }
   //=====  Go to ARIA Mode  =====//
  if (((pb1State == 0)||(joyButtonState ==   0)) && (MenuSelection == 1)){
    MainBusy = 1;
    goState = 1;
    digitalWrite   (ledOkToGo, LOW);
    digitalWrite (ledNotReady, HIGH);
    AriaMode();
   }  
  //=====  Go to CHAT Mode  =====//
  if (((pb1State == 0)||(joyButtonState   == 0)) && (MenuSelection == 2)) {
    MainBusy = 1; 
    goState = 2;
     digitalWrite (ledOkToGo, LOW);
    digitalWrite (ledNotReady, LOW);
    chatMode();   
  }
  //=====  Go to MANUAL CONTROL Mode  =====//
  if (((pb1State ==   0)||(joyButtonState == 0)) && (MenuSelection == 3)) {
    MainBusy = 1; 
     goState = 3;
    digitalWrite (ledOkToGo, LOW);
    digitalWrite (ledNotReady,   LOW);
    digitalWrite (ledManual, HIGH);
    manualControl();
    } 
   else {
    digitalWrite(ledManual, LOW);
  }
  //====== Debugging Monitor   ========//
  Serial.println();
  Serial.print(F("-MTC-  "));
  Serial.print(F("goState:   "));Serial.print (goState); Serial.print ("   ");
/*  Serial.print(F("White   :"));Serial.print (busyWhite); Serial.print ("   ");
  Serial.print(F("Red   :"));Serial.print (busyRed); Serial.print ("   ");
  Serial.print(F("Blue   :"));Serial.print (busyBlue); Serial.print ("   ");
  Serial.print(F("RedHr   :"));Serial.print (RedHere); Serial.print ("   ");
  Serial.print(F("WhtHr   :"));Serial.print (WhiteHere); Serial.print ("   ");
  Serial.print(F("BluHr   :"));Serial.print (BlueHere); Serial.print ("   ");
  Serial.print(F("x :"));Serial.print   (x); Serial.print ("\	");
  Serial.print(F("y :"));Serial.print (y); Serial.print   ("\	");
*/
  Serial.print(F("pb1 :"));Serial.print (pb1State); Serial.print   ("   ");
  Serial.print(F("pb2 :"));Serial.print (pb2State); Serial.print   ("   ");
  Serial.print(F("pb3 :"));Serial.print (pb3State); Serial.print   ("   ");
  Serial.print(F("jy4 :"));Serial.print (joyButtonState); Serial.print   ("   ");
}
///////////////////////////////////////////////////////////////////   
//======================= DISPLAY SCREENS =======================//
///////////////////////////////////////////////////////////////////

//-------------   Opening Splash Screen ---------------//
void Splash (){
  display.clearDisplay();
   display.setTextColor(WHITE);
  display.drawBitmap(0, 0,  logo32_glcd_bmp, 32,   32, 1);
  display.drawBitmap(46, 0,  logo32_glcd_bmp, 32, 32, 1);
  display.drawBitmap(92,   0,  logo32_glcd_bmp, 32, 32, 1);
  display.fillRect(0,24,124,8, BLACK);
  display.setCursor(4,24);   display.print("== Turret Control ==");
  display.display();
}
//-------------   Main Menu ---------------//
void MainMenu () { // display menu
  display.setTextSize(0);   // display text on screen
  display.setTextColor(WHITE);
  if (MenuSelection   == 1) {
    display.setTextSize(0);
    display.setCursor(0,24); display.print("-----   SELECTION -----");
    display.setCursor(24,0); display.print(" == ARIA ==");
     display.setCursor(24,8); display.print("    Chat");
    display.setCursor(24,16);   display.print("   Manual");}
  if (MenuSelection == 2) {
    display.setCursor(0,24);   display.print("----- SELECTION -----");
    display.setCursor(24,0); display.print("     Aria");
    display.setCursor(24,8); display.print(" == CHAT ==");
     display.setCursor(24,16); display.print("   Manual");}
  if (MenuSelection   == 3) {
    display.setCursor(0,24); display.print("----- SELECTION -----");
     display.setCursor(24,0); display.print("    Aria");
    display.setCursor(24,8);   display.print("    Chat");
    display.setCursor(24,16); display.print("==   MANUAL ==");}
  display.display();
  display.clearDisplay ();
}
//-------------   Busy Screen ---------------//
void BusyScreen () { // display menu
  display.setTextSize(0);   // display text on screen
  display.setTextColor(WHITE);
  display.setTextSize(0);
   display.setCursor(20,24); display.print("BUSY RIGHT NOW");
  display.setCursor(0,0);   display.print("Sorry, I'm busy ");
  display.setCursor(0,8); display.print("right   now, dealing");
  display.setCursor(0,16); display.print("with you people...");
   display.display();
  display.clearDisplay ();
}

//-------- Turret   Check Screen ---------------//
void TurretCheck() { 
    display.setTextColor(WHITE);
     display.setTextSize(0);
    display.setCursor(26,24); display.print("Turret   Status");
    
    display.setCursor(0,0); display.print("Red: ");
     if (busyRed == 1) {display.setCursor(38,0); display.print ("Busy");}
    else   if (RedHere == 1) {display.setCursor(38,0); display.print ("Ready");}
    else   {display.setCursor(38,0); display.print ("not available");} 
     
    display.setCursor(0,8);   display.print("White: ");
    if (busyWhite == 1) {display.setCursor(38,8);   display.print ("Busy");}
    else if (WhiteHere == 1) {display.setCursor(38,8);   display.print ("Ready");}
    else {display.setCursor(38,8); display.print   ("not available");} 

    display.setCursor(0,16); display.print("Blue:   ");
    if (busyBlue == 1) {display.setCursor(38,16); display.print ("Busy");}
     else if (BlueHere == 1) {display.setCursor(38,16); display.print ("Ready");}
     else {display.setCursor(38,16); display.print ("not available");} 
    
     display.display();
    display.clearDisplay ();
}
///////////////////////////////////////////////////////////////////   
//======================= ARIA MODE =============================//
///////////////////////////////////////////////////////////////////
void   AriaMode () { 
  for (int i=0; i <= 10; i++){ // Make sure the turrets get the   message.
    WriteNet();
   }
  MenuSelection = 1;
  int i=0;
  goState   = 0;
  do {
    i++;
    display.setTextSize(2); // display text on screen
     display.setTextColor(WHITE);
    display.setCursor(8,8); display.print("ARIA   MODE");
    display.fillRect(0,24,120,4, WHITE); // 
    display.fillRect(0+(i),2,40,4,   WHITE);;
    display.display();
    display.clearDisplay ();
    pb3State   = digitalRead(pb3);
    ReadNet();
    WriteNet();
    if (i > 80) (i =   0);
    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
      return;
     }
  }
  while (pb3State != 0); 
  for (int i=0; i <= 10; i++){
     WriteNet();
  }
}
///////////////////////////////////////////////////////////////////   
//======================= CHAT MODE =============================//
///////////////////////////////////////////////////////////////////
void   chatMode() {
   for (int i=0; i <= 10; i++){ // Make sure the turrets get the   message.
    WriteNet();
  }
  Serial.println();
  digitalWrite (ledOkToGo,   LOW);
  digitalWrite (ledNotReady, HIGH);
  MenuSelection = 2;
  int i=0;
   goState = 0;
  do {
    WriteNet();
    ReadNet();
    Serial.println();
     i++;
    display.setTextSize(2); // display text on screen
    display.setTextColor(WHITE);
     display.setCursor(8,8); display.print("CHAT MODE");
    display.fillRect(0,24,120,4,   WHITE); // 
    display.fillRect(0+i,2,40,4, WHITE);
    display.display();
     display.clearDisplay ();
    pb3State = digitalRead(pb3);
    if (i >   80) (i = 0);
    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
       return;
    }
  }
  while (pb3State != 0);
  for (int i=0; i <=   10; i++){
    WriteNet();
  }
}
///////////////////////////////////////////////////////////////////   
//======================= MANUAL CONTROL ========================//
///////////////////////////////////////////////////////////////////
void   manualControl() {
  WriteNet();
  Serial.println();
  selectTurret = 2;
   MenuSelection = 3;
  display.setTextSize(2); // display text on screen
   display.setTextColor(WHITE);
  display.setCursor(0,8); display.print("MANUAL   CTL");
  display.fillRect(0,24,128,4, WHITE); // 
  display.fillRect(0,2,128,4,   WHITE);;
  display.display();
  do {
    x=analogRead(joyX);
    y=analogRead(joyY);
     pb1State = digitalRead(pb1); // Fire (GRN)
    pb2State = digitalRead(pb2);   // Say random comment (WHT)
    pb3State = digitalRead(pb3); // Break (RED)
     WriteNet();
    Serial.println();
  }
  while (pb3State != 0);
   goState = 0;
  display.clearDisplay ();
  ReadNet();
  for (int i=0;   i <= 10; i++){
    WriteNet();
  }
  Serial.println();
}

///////////////////////////////////////////////////////////////////   
//========================= RECEIVING ===========================//
///////////////////////////////////////////////////////////////////
void   ReadNet(){
  network.update();
  for (int i=0; i <= 10; i++){
    if (   network.available() )  {
      RF24NetworkHeader header;
      network.peek(header);
       network.read(header, &DataRead, sizeof(DataRead));
      if (header.from_node   == 01){  // get data from RED
        busyRed = DataRead; 
        RedHere   = 1;} // RED is recognized
      if (header.from_node == 02){
        busyWhite   = DataRead;
        WhiteHere = 1;}      
      if (header.from_node == 03){
         busyBlue = DataRead;
        BlueHere = 1;}   
    } 
  }
}
///////////////////////////////////////////////////////////////////   
//========================= SENDING ===========================//
///////////////////////////////////////////////////////////////////
void   WriteNet(){
  network.update();
  int payload [] = {x, y, pb1State, pb2State,   pb3State, goState}; 

  RF24NetworkHeader header14(RED);
  bool ok14 =   network.write(header14, &payload, sizeof(payload));
  if (ok14) {
    Rx =   0;
    Serial.print("RED ok14   ");}
  else {
    Rx++;
    Serial.print("--------    ");}
     
  RF24NetworkHeader header16(WHT);
  bool ok16 = network.write(header16,   &payload, sizeof(payload));
  if (ok16) {
    Wx = 0;
    Serial.print("WHT   ok16   ");}
  else {
    Wx++;
    Serial.print("--------   ");}

   RF24NetworkHeader header18(BLU);
  bool ok18 = network.write(header18, &payload,   sizeof(payload));
  if (ok18) {
    Bx = 0;
    Serial.print("BLU ok18    ");}
  else {
    Bx++;
    Serial.print("--------   ");}
    
   if (Rx >= 10){RedHere = 0;}  // to check if communication lost and record it.
   else {RedHere = 1;}
  if (Wx >= 10){WhiteHere = 0;}
  else WhiteHere = 1;
   if (Bx >= 10){BlueHere = 0;}
  else {BlueHere = 1;}
  
   Serial.print(F("Rx   :"));Serial.print (Rx); Serial.print ("   ");
   Serial.print(F("RedHere   :"));Serial.print (RedHere); Serial.print ("   ");
   Serial.print(F("Wx   :"));Serial.print (Wx); Serial.print ("   ");
   Serial.print(F("WhiteHere   :"));Serial.print (WhiteHere); Serial.print ("   ");
   Serial.print(F("Bx   :"));Serial.print (Bx); Serial.print ("   ");
   Serial.print(F("BlueHere   :"));Serial.print (BlueHere); Serial.print ("   ");
}

MTC code

c_cpp

My code for the MTC

1/* Master Turret Control - Actual
2 *  Chris Nowak - MAR 2019
3 *  This is the handheld MTC module.  
4 *  https://www.instructables.com/member/ChrisN219/
5  *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
6  * 
7 *  This code includes all the features needed to control up to three turrets,
8  *  perform the Cara Mia Opera, Chat Time and Manual mode.
9 *  The turrets are  featured on another build.  The turret
10 *  will operate autonomously using this  code without the MTC.
11 *  
12 *  The code is built to work with three turrets,  but each will operate independently.
13 *  Lots of debugging code left in.  Use  or clean up as desired.  It's mostly debugged,
14 *  but isn't perfect.  Given  the price you paid, I figure that's ok! ;)
15*/
16
17#include <RF24.h>
18#include  <RF24Network.h>
19#include <SPI.h>
20#include <Adafruit_GFX.h>
21#include <Adafruit_SSD1306.h>
22
23Adafruit_SSD1306  display(4);
24#define LOGO32_GLCD_HEIGHT 32 
25#define LOGO32_GLCD_WIDTH  32 
26static  const unsigned char PROGMEM logo32_glcd_bmp[] =
27{ B00000000, B00000001, B10000000,  B00000000,
28  B00000000, B00000110, B01100000, B00000000,
29  B00000000, B00011000,  B00011000, B00000000,
30  B00000000, B00010000, B00001000, B00000000,
31  B00000000,  B00110000, B00001100, B00000000,
32  B00001100, B00001000, B00010000, B00011000,
33  B00110000, B00011000, B00011000, B00001100,
34  B01110000, B00010001, B10001000,  B00001110,
35  B01100000, B00110011, B11001100, B00000110,
36  B01100000, B00100011,  B11000100, B00000110,
37  B11000000, B00110001, B10001100, B00000011,
38  B11000000,  B00100000, B00000100, B00000011,
39  B11000000, B00110000, B00001100, B00000011,
40  B11000000, B00010000, B00001000, B00000011,
41  B01100000, B00010000, B00001000,  B00000110,
42  B00110000, B00001100, B00110000, B00001100,
43
44  B00011000,  B00000011, B11000000, B00011000,
45  B00000110, B00001101, B10110000, B01100000,
46  B00000000, B00110001, B10001100, B00000000,
47  B00000000, B11000001, B10000011,  B00000000,
48  B00000001, B10000001, B10000001, B10000000,
49  B00000110, B00000001,  B10000000, B01100000,
50  B00011000, B00000001, B10000000, B00011000,
51  B00110000,  B00000001, B10000000, B00001100,
52  B01100000, B00000001, B10000000, B00000110,
53  B01100000, B00000001, B10000000, B00000110,
54  B11000000, B00000001, B10000000,  B00000011,
55  B11000000, B00000001, B10000000, B00000011,
56  B11000000, B00000001,  B10000000, B00000011,
57  B11000000, B00000001, B10000000, B00000011,
58  B11000000,  B00000001, B10000000, B00000011,
59  B11000000, B00000000, B00000100, B00000011  };
60
61RF24 radio(10, 9);                // nRF24L01 (CE,CSN)
62RF24Network  network(radio);
63const uint64_t this_node = 00;    // 
64const uint64_t RED =  01;       // turret #1 - Red Turret
65const uint64_t WHT = 02;       // turret  #2 - White Turret
66const uint64_t BLU = 03;       // turret #3 - Blue Turret 
67
68byte  pb1 = A2; // Select (GRN) "X"
69byte pb2 = A1; // Select 2 (WHT) "T"
70byte  pb3 = A0; // Break (Red) "<"
71byte joyX=A6;
72byte joyY=A7;
73byte joyButton  = A3; // joystick press
74
75byte ledManual = 5; // LED for signalling Manual  Mode (BLUE)
76byte ledNotReady = 6; // LED for signalling that turrets busy (RED)
77byte  ledOkToGo = 7; // LED signalling ready for action (GREEN)
78
79byte power = 8;  // Through a pinout to show Nano powered and working
80int goState; // Aria =1,  Chatty = 2, Manual = 3
81int pb1State;
82int pb2State;
83int pb3State;
84byte  joyButtonState;
85byte busyWhite = 0;
86byte busyRed = 0;
87byte busyBlue = 0;
88byte  notReady;
89byte DataRead;
90int x=0;
91int y=0;
92int z=0;
93byte MainBusy  = 1;
94byte MainAria = 0;
95byte MainChat = 0;
96byte MainManual = 0;
97byte  MenuSelection = 0;
98int Rx = 0;
99int Wx = 0;
100int Bx = 0;
101byte RedHere  = 0;
102byte WhiteHere = 0;
103byte BlueHere = 0;
104byte selectTurret;
105
106///////////////////////////////////////////////////////////////////  
107//============================ SETUP ============================//
108///////////////////////////////////////////////////////////////////
109void  setup() {
110  Serial.begin(9600);//
111  SPI.begin();
112  radio.begin();
113  radio.setPALevel(RF24_PA_LOW);
114  radio.setDataRate(RF24_2MBPS);
115  radio.enableAckPayload();
116  network.begin(70,  this_node);  //(channel, node address)
117  pinMode(pb1, INPUT_PULLUP);
118  pinMode(pb2,  INPUT_PULLUP);
119  pinMode(pb3, INPUT_PULLUP);
120  pinMode(joyButton, INPUT_PULLUP);
121  pinMode(ledManual, OUTPUT);
122  pinMode(ledNotReady, OUTPUT);
123  pinMode(ledOkToGo,  OUTPUT);
124  pinMode(power, OUTPUT);
125  radio.printDetails();
126  digitalWrite  (power, HIGH);
127  display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with  the I2C addr 
128  display.clearDisplay(); 
129  display.display();
130  display.setRotation(2);  // yellow band on bottom. 0 is for yellow on top
131  Splash();
132  delay (5000);  // Display spash screen for 5 seconds.
133  display.clearDisplay();
134  MenuSelection  = 1;
135  for (int i=0; i <= 20; i++){ // quick net check to see which turrets around
136    ReadNet();
137    TurretCheck();
138  }
139}
140///////////////////////////////////////////////////////////////////  
141//========================= MAIN LOOP ===========================//
142///////////////////////////////////////////////////////////////////
143void  loop() { 
144  //=====  No turrets connected =====//
145  while ((RedHere == 0)  && (WhiteHere == 0) && (BlueHere == 0)){
146    ReadNet();
147    display.setTextColor(WHITE);
148    display.setTextSize(0);
149    display.setCursor(20,0); display.print("No Turrets!");
150    display.setCursor(0,8); display.print("Check to make sure ");
151    display.setCursor(0,16);  display.print("Turrets powered up");
152    display.setCursor(0,24); display.print("and  ready to go...");
153    display.display();
154    display.clearDisplay ();
155  }
156
157  //=====  Turret Busy somewhere =====//
158  while ((busyWhite == 1)  || (busyRed == 1) || (busyBlue == 1)) {
159    BusyScreen();
160    ReadNet();
161    digitalWrite (ledOkToGo, LOW);
162    digitalWrite (ledNotReady, HIGH);
163  }
164  //=====  Read inputs  =====//
165  x=analogRead(joyX);
166  y=analogRead(joyY);
167  pb1State = digitalRead(pb1); // "X"
168  pb2State = digitalRead(pb2); // "T"
169  pb3State = digitalRead(pb3); // "<"
170  joyButtonState = digitalRead(joyButton);  // "."
171  
172  //=====  Main Menu loop - Wait for input or Turret to get busy  =====//
173  if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
174    digitalWrite  (ledOkToGo, HIGH);
175    digitalWrite (ledNotReady, LOW);
176    ReadNet();
177    WriteNet();
178    goState = 0;
179    MainBusy = 0;
180  }
181  //=====  Use  Joystick for menu selection  =====//
182  if (MainBusy == 0) {
183    if (y < 300)  {--MenuSelection;}
184    if (y > 700) {MenuSelection++;}
185    if (MenuSelection  > 3) {MenuSelection = 1;}
186    if (MenuSelection < 1) {MenuSelection = 3;}
187    MainMenu();
188    }
189  //=====  Check turret status  =====//
190  if (pb2State  == 0) {
191    do {
192      TurretCheck(); 
193      pb3State = digitalRead(pb3);
194      WriteNet();
195      ReadNet();
196      Serial.println();   
197    }
198    while (pb3State != 0); // press '<' button to exit status screen
199  }
200  //=====  Go to ARIA Mode  =====//
201  if (((pb1State == 0)||(joyButtonState ==  0)) && (MenuSelection == 1)){
202    MainBusy = 1;
203    goState = 1;
204    digitalWrite  (ledOkToGo, LOW);
205    digitalWrite (ledNotReady, HIGH);
206    AriaMode();
207  }  
208  //=====  Go to CHAT Mode  =====//
209  if (((pb1State == 0)||(joyButtonState  == 0)) && (MenuSelection == 2)) {
210    MainBusy = 1; 
211    goState = 2;
212    digitalWrite (ledOkToGo, LOW);
213    digitalWrite (ledNotReady, LOW);
214    chatMode();  
215  }
216  //=====  Go to MANUAL CONTROL Mode  =====//
217  if (((pb1State ==  0)||(joyButtonState == 0)) && (MenuSelection == 3)) {
218    MainBusy = 1; 
219    goState = 3;
220    digitalWrite (ledOkToGo, LOW);
221    digitalWrite (ledNotReady,  LOW);
222    digitalWrite (ledManual, HIGH);
223    manualControl();
224    } 
225  else {
226    digitalWrite(ledManual, LOW);
227  }
228  //====== Debugging Monitor  ========//
229  Serial.println();
230  Serial.print(F("-MTC-  "));
231  Serial.print(F("goState:  "));Serial.print (goState); Serial.print ("   ");
232/*  Serial.print(F("White  :"));Serial.print (busyWhite); Serial.print ("   ");
233  Serial.print(F("Red  :"));Serial.print (busyRed); Serial.print ("   ");
234  Serial.print(F("Blue  :"));Serial.print (busyBlue); Serial.print ("   ");
235  Serial.print(F("RedHr  :"));Serial.print (RedHere); Serial.print ("   ");
236  Serial.print(F("WhtHr  :"));Serial.print (WhiteHere); Serial.print ("   ");
237  Serial.print(F("BluHr  :"));Serial.print (BlueHere); Serial.print ("   ");
238  Serial.print(F("x :"));Serial.print  (x); Serial.print ("\	");
239  Serial.print(F("y :"));Serial.print (y); Serial.print  ("\	");
240*/
241  Serial.print(F("pb1 :"));Serial.print (pb1State); Serial.print  ("   ");
242  Serial.print(F("pb2 :"));Serial.print (pb2State); Serial.print  ("   ");
243  Serial.print(F("pb3 :"));Serial.print (pb3State); Serial.print  ("   ");
244  Serial.print(F("jy4 :"));Serial.print (joyButtonState); Serial.print  ("   ");
245}
246///////////////////////////////////////////////////////////////////  
247//======================= DISPLAY SCREENS =======================//
248///////////////////////////////////////////////////////////////////
249
250//-------------  Opening Splash Screen ---------------//
251void Splash (){
252  display.clearDisplay();
253  display.setTextColor(WHITE);
254  display.drawBitmap(0, 0,  logo32_glcd_bmp, 32,  32, 1);
255  display.drawBitmap(46, 0,  logo32_glcd_bmp, 32, 32, 1);
256  display.drawBitmap(92,  0,  logo32_glcd_bmp, 32, 32, 1);
257  display.fillRect(0,24,124,8, BLACK);
258  display.setCursor(4,24);  display.print("== Turret Control ==");
259  display.display();
260}
261//-------------  Main Menu ---------------//
262void MainMenu () { // display menu
263  display.setTextSize(0);  // display text on screen
264  display.setTextColor(WHITE);
265  if (MenuSelection  == 1) {
266    display.setTextSize(0);
267    display.setCursor(0,24); display.print("-----  SELECTION -----");
268    display.setCursor(24,0); display.print(" == ARIA ==");
269    display.setCursor(24,8); display.print("    Chat");
270    display.setCursor(24,16);  display.print("   Manual");}
271  if (MenuSelection == 2) {
272    display.setCursor(0,24);  display.print("----- SELECTION -----");
273    display.setCursor(24,0); display.print("    Aria");
274    display.setCursor(24,8); display.print(" == CHAT ==");
275    display.setCursor(24,16); display.print("   Manual");}
276  if (MenuSelection  == 3) {
277    display.setCursor(0,24); display.print("----- SELECTION -----");
278    display.setCursor(24,0); display.print("    Aria");
279    display.setCursor(24,8);  display.print("    Chat");
280    display.setCursor(24,16); display.print("==  MANUAL ==");}
281  display.display();
282  display.clearDisplay ();
283}
284//-------------  Busy Screen ---------------//
285void BusyScreen () { // display menu
286  display.setTextSize(0);  // display text on screen
287  display.setTextColor(WHITE);
288  display.setTextSize(0);
289  display.setCursor(20,24); display.print("BUSY RIGHT NOW");
290  display.setCursor(0,0);  display.print("Sorry, I'm busy ");
291  display.setCursor(0,8); display.print("right  now, dealing");
292  display.setCursor(0,16); display.print("with you people...");
293  display.display();
294  display.clearDisplay ();
295}
296
297//-------- Turret  Check Screen ---------------//
298void TurretCheck() { 
299    display.setTextColor(WHITE);
300    display.setTextSize(0);
301    display.setCursor(26,24); display.print("Turret  Status");
302    
303    display.setCursor(0,0); display.print("Red: ");
304    if (busyRed == 1) {display.setCursor(38,0); display.print ("Busy");}
305    else  if (RedHere == 1) {display.setCursor(38,0); display.print ("Ready");}
306    else  {display.setCursor(38,0); display.print ("not available");} 
307     
308    display.setCursor(0,8);  display.print("White: ");
309    if (busyWhite == 1) {display.setCursor(38,8);  display.print ("Busy");}
310    else if (WhiteHere == 1) {display.setCursor(38,8);  display.print ("Ready");}
311    else {display.setCursor(38,8); display.print  ("not available");} 
312
313    display.setCursor(0,16); display.print("Blue:  ");
314    if (busyBlue == 1) {display.setCursor(38,16); display.print ("Busy");}
315    else if (BlueHere == 1) {display.setCursor(38,16); display.print ("Ready");}
316    else {display.setCursor(38,16); display.print ("not available");} 
317    
318    display.display();
319    display.clearDisplay ();
320}
321///////////////////////////////////////////////////////////////////  
322//======================= ARIA MODE =============================//
323///////////////////////////////////////////////////////////////////
324void  AriaMode () { 
325  for (int i=0; i <= 10; i++){ // Make sure the turrets get the  message.
326    WriteNet();
327   }
328  MenuSelection = 1;
329  int i=0;
330  goState  = 0;
331  do {
332    i++;
333    display.setTextSize(2); // display text on screen
334    display.setTextColor(WHITE);
335    display.setCursor(8,8); display.print("ARIA  MODE");
336    display.fillRect(0,24,120,4, WHITE); // 
337    display.fillRect(0+(i),2,40,4,  WHITE);;
338    display.display();
339    display.clearDisplay ();
340    pb3State  = digitalRead(pb3);
341    ReadNet();
342    WriteNet();
343    if (i > 80) (i =  0);
344    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
345      return;
346    }
347  }
348  while (pb3State != 0); 
349  for (int i=0; i <= 10; i++){
350    WriteNet();
351  }
352}
353///////////////////////////////////////////////////////////////////  
354//======================= CHAT MODE =============================//
355///////////////////////////////////////////////////////////////////
356void  chatMode() {
357   for (int i=0; i <= 10; i++){ // Make sure the turrets get the  message.
358    WriteNet();
359  }
360  Serial.println();
361  digitalWrite (ledOkToGo,  LOW);
362  digitalWrite (ledNotReady, HIGH);
363  MenuSelection = 2;
364  int i=0;
365  goState = 0;
366  do {
367    WriteNet();
368    ReadNet();
369    Serial.println();
370    i++;
371    display.setTextSize(2); // display text on screen
372    display.setTextColor(WHITE);
373    display.setCursor(8,8); display.print("CHAT MODE");
374    display.fillRect(0,24,120,4,  WHITE); // 
375    display.fillRect(0+i,2,40,4, WHITE);
376    display.display();
377    display.clearDisplay ();
378    pb3State = digitalRead(pb3);
379    if (i >  80) (i = 0);
380    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
381      return;
382    }
383  }
384  while (pb3State != 0);
385  for (int i=0; i <=  10; i++){
386    WriteNet();
387  }
388}
389///////////////////////////////////////////////////////////////////  
390//======================= MANUAL CONTROL ========================//
391///////////////////////////////////////////////////////////////////
392void  manualControl() {
393  WriteNet();
394  Serial.println();
395  selectTurret = 2;
396  MenuSelection = 3;
397  display.setTextSize(2); // display text on screen
398  display.setTextColor(WHITE);
399  display.setCursor(0,8); display.print("MANUAL  CTL");
400  display.fillRect(0,24,128,4, WHITE); // 
401  display.fillRect(0,2,128,4,  WHITE);;
402  display.display();
403  do {
404    x=analogRead(joyX);
405    y=analogRead(joyY);
406    pb1State = digitalRead(pb1); // Fire (GRN)
407    pb2State = digitalRead(pb2);  // Say random comment (WHT)
408    pb3State = digitalRead(pb3); // Break (RED)
409    WriteNet();
410    Serial.println();
411  }
412  while (pb3State != 0);
413  goState = 0;
414  display.clearDisplay ();
415  ReadNet();
416  for (int i=0;  i <= 10; i++){
417    WriteNet();
418  }
419  Serial.println();
420}
421
422///////////////////////////////////////////////////////////////////  
423//========================= RECEIVING ===========================//
424///////////////////////////////////////////////////////////////////
425void  ReadNet(){
426  network.update();
427  for (int i=0; i <= 10; i++){
428    if (  network.available() )  {
429      RF24NetworkHeader header;
430      network.peek(header);
431      network.read(header, &DataRead, sizeof(DataRead));
432      if (header.from_node  == 01){  // get data from RED
433        busyRed = DataRead; 
434        RedHere  = 1;} // RED is recognized
435      if (header.from_node == 02){
436        busyWhite  = DataRead;
437        WhiteHere = 1;}      
438      if (header.from_node == 03){
439        busyBlue = DataRead;
440        BlueHere = 1;}   
441    } 
442  }
443}
444///////////////////////////////////////////////////////////////////  
445//========================= SENDING ===========================//
446///////////////////////////////////////////////////////////////////
447void  WriteNet(){
448  network.update();
449  int payload [] = {x, y, pb1State, pb2State,  pb3State, goState}; 
450
451  RF24NetworkHeader header14(RED);
452  bool ok14 =  network.write(header14, &payload, sizeof(payload));
453  if (ok14) {
454    Rx =  0;
455    Serial.print("RED ok14   ");}
456  else {
457    Rx++;
458    Serial.print("--------   ");}
459     
460  RF24NetworkHeader header16(WHT);
461  bool ok16 = network.write(header16,  &payload, sizeof(payload));
462  if (ok16) {
463    Wx = 0;
464    Serial.print("WHT  ok16   ");}
465  else {
466    Wx++;
467    Serial.print("--------   ");}
468
469  RF24NetworkHeader header18(BLU);
470  bool ok18 = network.write(header18, &payload,  sizeof(payload));
471  if (ok18) {
472    Bx = 0;
473    Serial.print("BLU ok18   ");}
474  else {
475    Bx++;
476    Serial.print("--------   ");}
477    
478  if (Rx >= 10){RedHere = 0;}  // to check if communication lost and record it.
479  else {RedHere = 1;}
480  if (Wx >= 10){WhiteHere = 0;}
481  else WhiteHere = 1;
482  if (Bx >= 10){BlueHere = 0;}
483  else {BlueHere = 1;}
484  
485   Serial.print(F("Rx  :"));Serial.print (Rx); Serial.print ("   ");
486   Serial.print(F("RedHere  :"));Serial.print (RedHere); Serial.print ("   ");
487   Serial.print(F("Wx  :"));Serial.print (Wx); Serial.print ("   ");
488   Serial.print(F("WhiteHere  :"));Serial.print (WhiteHere); Serial.print ("   ");
489   Serial.print(F("Bx  :"));Serial.print (Bx); Serial.print ("   ");
490   Serial.print(F("BlueHere  :"));Serial.print (BlueHere); Serial.print ("   ");
491}
492

/* Master Turret Control - Actual
 *  Chris Nowak - MAR 2019
 *  This is the handheld MTC module.  
 *  https://www.instructables.com/member/ChrisN219/
  *  https://create.arduino.cc/projecthub/Novachris/talking-portal-2-turret-gun-637bf3
  * 
 *  This code includes all the features needed to control up to three turrets,
  *  perform the Cara Mia Opera, Chat Time and Manual mode.
 *  The turrets are  featured on another build.  The turret
 *  will operate autonomously using this  code without the MTC.
 *  
 *  The code is built to work with three turrets,  but each will operate independently.
 *  Lots of debugging code left in.  Use  or clean up as desired.  It's mostly debugged,
 *  but isn't perfect.  Given  the price you paid, I figure that's ok! ;)
*/

#include <RF24.h>
#include  <RF24Network.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

Adafruit_SSD1306  display(4);
#define LOGO32_GLCD_HEIGHT 32 
#define LOGO32_GLCD_WIDTH  32 
static  const unsigned char PROGMEM logo32_glcd_bmp[] =
{ B00000000, B00000001, B10000000,  B00000000,
  B00000000, B00000110, B01100000, B00000000,
  B00000000, B00011000,  B00011000, B00000000,
  B00000000, B00010000, B00001000, B00000000,
  B00000000,  B00110000, B00001100, B00000000,
  B00001100, B00001000, B00010000, B00011000,
  B00110000, B00011000, B00011000, B00001100,
  B01110000, B00010001, B10001000,  B00001110,
  B01100000, B00110011, B11001100, B00000110,
  B01100000, B00100011,  B11000100, B00000110,
  B11000000, B00110001, B10001100, B00000011,
  B11000000,  B00100000, B00000100, B00000011,
  B11000000, B00110000, B00001100, B00000011,
  B11000000, B00010000, B00001000, B00000011,
  B01100000, B00010000, B00001000,  B00000110,
  B00110000, B00001100, B00110000, B00001100,

  B00011000,  B00000011, B11000000, B00011000,
  B00000110, B00001101, B10110000, B01100000,
  B00000000, B00110001, B10001100, B00000000,
  B00000000, B11000001, B10000011,  B00000000,
  B00000001, B10000001, B10000001, B10000000,
  B00000110, B00000001,  B10000000, B01100000,
  B00011000, B00000001, B10000000, B00011000,
  B00110000,  B00000001, B10000000, B00001100,
  B01100000, B00000001, B10000000, B00000110,
  B01100000, B00000001, B10000000, B00000110,
  B11000000, B00000001, B10000000,  B00000011,
  B11000000, B00000001, B10000000, B00000011,
  B11000000, B00000001,  B10000000, B00000011,
  B11000000, B00000001, B10000000, B00000011,
  B11000000,  B00000001, B10000000, B00000011,
  B11000000, B00000000, B00000100, B00000011  };

RF24 radio(10, 9);                // nRF24L01 (CE,CSN)
RF24Network  network(radio);
const uint64_t this_node = 00;    // 
const uint64_t RED =  01;       // turret #1 - Red Turret
const uint64_t WHT = 02;       // turret  #2 - White Turret
const uint64_t BLU = 03;       // turret #3 - Blue Turret 

byte  pb1 = A2; // Select (GRN) "X"
byte pb2 = A1; // Select 2 (WHT) "T"
byte  pb3 = A0; // Break (Red) "<"
byte joyX=A6;
byte joyY=A7;
byte joyButton  = A3; // joystick press

byte ledManual = 5; // LED for signalling Manual  Mode (BLUE)
byte ledNotReady = 6; // LED for signalling that turrets busy (RED)
byte  ledOkToGo = 7; // LED signalling ready for action (GREEN)

byte power = 8;  // Through a pinout to show Nano powered and working
int goState; // Aria =1,  Chatty = 2, Manual = 3
int pb1State;
int pb2State;
int pb3State;
byte  joyButtonState;
byte busyWhite = 0;
byte busyRed = 0;
byte busyBlue = 0;
byte  notReady;
byte DataRead;
int x=0;
int y=0;
int z=0;
byte MainBusy  = 1;
byte MainAria = 0;
byte MainChat = 0;
byte MainManual = 0;
byte  MenuSelection = 0;
int Rx = 0;
int Wx = 0;
int Bx = 0;
byte RedHere  = 0;
byte WhiteHere = 0;
byte BlueHere = 0;
byte selectTurret;

///////////////////////////////////////////////////////////////////  
//============================ SETUP ============================//
///////////////////////////////////////////////////////////////////
void  setup() {
  Serial.begin(9600);//
  SPI.begin();
  radio.begin();
  radio.setPALevel(RF24_PA_LOW);
  radio.setDataRate(RF24_2MBPS);
  radio.enableAckPayload();
  network.begin(70,  this_node);  //(channel, node address)
  pinMode(pb1, INPUT_PULLUP);
  pinMode(pb2,  INPUT_PULLUP);
  pinMode(pb3, INPUT_PULLUP);
  pinMode(joyButton, INPUT_PULLUP);
  pinMode(ledManual, OUTPUT);
  pinMode(ledNotReady, OUTPUT);
  pinMode(ledOkToGo,  OUTPUT);
  pinMode(power, OUTPUT);
  radio.printDetails();
  digitalWrite  (power, HIGH);
  display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with  the I2C addr 
  display.clearDisplay(); 
  display.display();
  display.setRotation(2);  // yellow band on bottom. 0 is for yellow on top
  Splash();
  delay (5000);  // Display spash screen for 5 seconds.
  display.clearDisplay();
  MenuSelection  = 1;
  for (int i=0; i <= 20; i++){ // quick net check to see which turrets around
    ReadNet();
    TurretCheck();
  }
}
///////////////////////////////////////////////////////////////////  
//========================= MAIN LOOP ===========================//
///////////////////////////////////////////////////////////////////
void  loop() { 
  //=====  No turrets connected =====//
  while ((RedHere == 0)  && (WhiteHere == 0) && (BlueHere == 0)){
    ReadNet();
    display.setTextColor(WHITE);
    display.setTextSize(0);
    display.setCursor(20,0); display.print("No Turrets!");
    display.setCursor(0,8); display.print("Check to make sure ");
    display.setCursor(0,16);  display.print("Turrets powered up");
    display.setCursor(0,24); display.print("and  ready to go...");
    display.display();
    display.clearDisplay ();
  }

  //=====  Turret Busy somewhere =====//
  while ((busyWhite == 1)  || (busyRed == 1) || (busyBlue == 1)) {
    BusyScreen();
    ReadNet();
    digitalWrite (ledOkToGo, LOW);
    digitalWrite (ledNotReady, HIGH);
  }
  //=====  Read inputs  =====//
  x=analogRead(joyX);
  y=analogRead(joyY);
  pb1State = digitalRead(pb1); // "X"
  pb2State = digitalRead(pb2); // "T"
  pb3State = digitalRead(pb3); // "<"
  joyButtonState = digitalRead(joyButton);  // "."
  
  //=====  Main Menu loop - Wait for input or Turret to get busy  =====//
  if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
    digitalWrite  (ledOkToGo, HIGH);
    digitalWrite (ledNotReady, LOW);
    ReadNet();
    WriteNet();
    goState = 0;
    MainBusy = 0;
  }
  //=====  Use  Joystick for menu selection  =====//
  if (MainBusy == 0) {
    if (y < 300)  {--MenuSelection;}
    if (y > 700) {MenuSelection++;}
    if (MenuSelection  > 3) {MenuSelection = 1;}
    if (MenuSelection < 1) {MenuSelection = 3;}
    MainMenu();
    }
  //=====  Check turret status  =====//
  if (pb2State  == 0) {
    do {
      TurretCheck(); 
      pb3State = digitalRead(pb3);
      WriteNet();
      ReadNet();
      Serial.println();   
    }
    while (pb3State != 0); // press '<' button to exit status screen
  }
  //=====  Go to ARIA Mode  =====//
  if (((pb1State == 0)||(joyButtonState ==  0)) && (MenuSelection == 1)){
    MainBusy = 1;
    goState = 1;
    digitalWrite  (ledOkToGo, LOW);
    digitalWrite (ledNotReady, HIGH);
    AriaMode();
  }  
  //=====  Go to CHAT Mode  =====//
  if (((pb1State == 0)||(joyButtonState  == 0)) && (MenuSelection == 2)) {
    MainBusy = 1; 
    goState = 2;
    digitalWrite (ledOkToGo, LOW);
    digitalWrite (ledNotReady, LOW);
    chatMode();  
  }
  //=====  Go to MANUAL CONTROL Mode  =====//
  if (((pb1State ==  0)||(joyButtonState == 0)) && (MenuSelection == 3)) {
    MainBusy = 1; 
    goState = 3;
    digitalWrite (ledOkToGo, LOW);
    digitalWrite (ledNotReady,  LOW);
    digitalWrite (ledManual, HIGH);
    manualControl();
    } 
  else {
    digitalWrite(ledManual, LOW);
  }
  //====== Debugging Monitor  ========//
  Serial.println();
  Serial.print(F("-MTC-  "));
  Serial.print(F("goState:  "));Serial.print (goState); Serial.print ("   ");
/*  Serial.print(F("White  :"));Serial.print (busyWhite); Serial.print ("   ");
  Serial.print(F("Red  :"));Serial.print (busyRed); Serial.print ("   ");
  Serial.print(F("Blue  :"));Serial.print (busyBlue); Serial.print ("   ");
  Serial.print(F("RedHr  :"));Serial.print (RedHere); Serial.print ("   ");
  Serial.print(F("WhtHr  :"));Serial.print (WhiteHere); Serial.print ("   ");
  Serial.print(F("BluHr  :"));Serial.print (BlueHere); Serial.print ("   ");
  Serial.print(F("x :"));Serial.print  (x); Serial.print ("\	");
  Serial.print(F("y :"));Serial.print (y); Serial.print  ("\	");
*/
  Serial.print(F("pb1 :"));Serial.print (pb1State); Serial.print  ("   ");
  Serial.print(F("pb2 :"));Serial.print (pb2State); Serial.print  ("   ");
  Serial.print(F("pb3 :"));Serial.print (pb3State); Serial.print  ("   ");
  Serial.print(F("jy4 :"));Serial.print (joyButtonState); Serial.print  ("   ");
}
///////////////////////////////////////////////////////////////////  
//======================= DISPLAY SCREENS =======================//
///////////////////////////////////////////////////////////////////

//-------------  Opening Splash Screen ---------------//
void Splash (){
  display.clearDisplay();
  display.setTextColor(WHITE);
  display.drawBitmap(0, 0,  logo32_glcd_bmp, 32,  32, 1);
  display.drawBitmap(46, 0,  logo32_glcd_bmp, 32, 32, 1);
  display.drawBitmap(92,  0,  logo32_glcd_bmp, 32, 32, 1);
  display.fillRect(0,24,124,8, BLACK);
  display.setCursor(4,24);  display.print("== Turret Control ==");
  display.display();
}
//-------------  Main Menu ---------------//
void MainMenu () { // display menu
  display.setTextSize(0);  // display text on screen
  display.setTextColor(WHITE);
  if (MenuSelection  == 1) {
    display.setTextSize(0);
    display.setCursor(0,24); display.print("-----  SELECTION -----");
    display.setCursor(24,0); display.print(" == ARIA ==");
    display.setCursor(24,8); display.print("    Chat");
    display.setCursor(24,16);  display.print("   Manual");}
  if (MenuSelection == 2) {
    display.setCursor(0,24);  display.print("----- SELECTION -----");
    display.setCursor(24,0); display.print("    Aria");
    display.setCursor(24,8); display.print(" == CHAT ==");
    display.setCursor(24,16); display.print("   Manual");}
  if (MenuSelection  == 3) {
    display.setCursor(0,24); display.print("----- SELECTION -----");
    display.setCursor(24,0); display.print("    Aria");
    display.setCursor(24,8);  display.print("    Chat");
    display.setCursor(24,16); display.print("==  MANUAL ==");}
  display.display();
  display.clearDisplay ();
}
//-------------  Busy Screen ---------------//
void BusyScreen () { // display menu
  display.setTextSize(0);  // display text on screen
  display.setTextColor(WHITE);
  display.setTextSize(0);
  display.setCursor(20,24); display.print("BUSY RIGHT NOW");
  display.setCursor(0,0);  display.print("Sorry, I'm busy ");
  display.setCursor(0,8); display.print("right  now, dealing");
  display.setCursor(0,16); display.print("with you people...");
  display.display();
  display.clearDisplay ();
}

//-------- Turret  Check Screen ---------------//
void TurretCheck() { 
    display.setTextColor(WHITE);
    display.setTextSize(0);
    display.setCursor(26,24); display.print("Turret  Status");
    
    display.setCursor(0,0); display.print("Red: ");
    if (busyRed == 1) {display.setCursor(38,0); display.print ("Busy");}
    else  if (RedHere == 1) {display.setCursor(38,0); display.print ("Ready");}
    else  {display.setCursor(38,0); display.print ("not available");} 
     
    display.setCursor(0,8);  display.print("White: ");
    if (busyWhite == 1) {display.setCursor(38,8);  display.print ("Busy");}
    else if (WhiteHere == 1) {display.setCursor(38,8);  display.print ("Ready");}
    else {display.setCursor(38,8); display.print  ("not available");} 

    display.setCursor(0,16); display.print("Blue:  ");
    if (busyBlue == 1) {display.setCursor(38,16); display.print ("Busy");}
    else if (BlueHere == 1) {display.setCursor(38,16); display.print ("Ready");}
    else {display.setCursor(38,16); display.print ("not available");} 
    
    display.display();
    display.clearDisplay ();
}
///////////////////////////////////////////////////////////////////  
//======================= ARIA MODE =============================//
///////////////////////////////////////////////////////////////////
void  AriaMode () { 
  for (int i=0; i <= 10; i++){ // Make sure the turrets get the  message.
    WriteNet();
   }
  MenuSelection = 1;
  int i=0;
  goState  = 0;
  do {
    i++;
    display.setTextSize(2); // display text on screen
    display.setTextColor(WHITE);
    display.setCursor(8,8); display.print("ARIA  MODE");
    display.fillRect(0,24,120,4, WHITE); // 
    display.fillRect(0+(i),2,40,4,  WHITE);;
    display.display();
    display.clearDisplay ();
    pb3State  = digitalRead(pb3);
    ReadNet();
    WriteNet();
    if (i > 80) (i =  0);
    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
      return;
    }
  }
  while (pb3State != 0); 
  for (int i=0; i <= 10; i++){
    WriteNet();
  }
}
///////////////////////////////////////////////////////////////////  
//======================= CHAT MODE =============================//
///////////////////////////////////////////////////////////////////
void  chatMode() {
   for (int i=0; i <= 10; i++){ // Make sure the turrets get the  message.
    WriteNet();
  }
  Serial.println();
  digitalWrite (ledOkToGo,  LOW);
  digitalWrite (ledNotReady, HIGH);
  MenuSelection = 2;
  int i=0;
  goState = 0;
  do {
    WriteNet();
    ReadNet();
    Serial.println();
    i++;
    display.setTextSize(2); // display text on screen
    display.setTextColor(WHITE);
    display.setCursor(8,8); display.print("CHAT MODE");
    display.fillRect(0,24,120,4,  WHITE); // 
    display.fillRect(0+i,2,40,4, WHITE);
    display.display();
    display.clearDisplay ();
    pb3State = digitalRead(pb3);
    if (i >  80) (i = 0);
    if ((busyWhite == 0) && (busyRed == 0) && (busyBlue == 0)) {
      return;
    }
  }
  while (pb3State != 0);
  for (int i=0; i <=  10; i++){
    WriteNet();
  }
}
///////////////////////////////////////////////////////////////////  
//======================= MANUAL CONTROL ========================//
///////////////////////////////////////////////////////////////////
void  manualControl() {
  WriteNet();
  Serial.println();
  selectTurret = 2;
  MenuSelection = 3;
  display.setTextSize(2); // display text on screen
  display.setTextColor(WHITE);
  display.setCursor(0,8); display.print("MANUAL  CTL");
  display.fillRect(0,24,128,4, WHITE); // 
  display.fillRect(0,2,128,4,  WHITE);;
  display.display();
  do {
    x=analogRead(joyX);
    y=analogRead(joyY);
    pb1State = digitalRead(pb1); // Fire (GRN)
    pb2State = digitalRead(pb2);  // Say random comment (WHT)
    pb3State = digitalRead(pb3); // Break (RED)
    WriteNet();
    Serial.println();
  }
  while (pb3State != 0);
  goState = 0;
  display.clearDisplay ();
  ReadNet();
  for (int i=0;  i <= 10; i++){
    WriteNet();
  }
  Serial.println();
}

///////////////////////////////////////////////////////////////////  
//========================= RECEIVING ===========================//
///////////////////////////////////////////////////////////////////
void  ReadNet(){
  network.update();
  for (int i=0; i <= 10; i++){
    if (  network.available() )  {
      RF24NetworkHeader header;
      network.peek(header);
      network.read(header, &DataRead, sizeof(DataRead));
      if (header.from_node  == 01){  // get data from RED
        busyRed = DataRead; 
        RedHere  = 1;} // RED is recognized
      if (header.from_node == 02){
        busyWhite  = DataRead;
        WhiteHere = 1;}      
      if (header.from_node == 03){
        busyBlue = DataRead;
        BlueHere = 1;}   
    } 
  }
}
///////////////////////////////////////////////////////////////////  
//========================= SENDING ===========================//
///////////////////////////////////////////////////////////////////
void  WriteNet(){
  network.update();
  int payload [] = {x, y, pb1State, pb2State,  pb3State, goState}; 

  RF24NetworkHeader header14(RED);
  bool ok14 =  network.write(header14, &payload, sizeof(payload));
  if (ok14) {
    Rx =  0;
    Serial.print("RED ok14   ");}
  else {
    Rx++;
    Serial.print("--------   ");}
     
  RF24NetworkHeader header16(WHT);
  bool ok16 = network.write(header16,  &payload, sizeof(payload));
  if (ok16) {
    Wx = 0;
    Serial.print("WHT  ok16   ");}
  else {
    Wx++;
    Serial.print("--------   ");}

  RF24NetworkHeader header18(BLU);
  bool ok18 = network.write(header18, &payload,  sizeof(payload));
  if (ok18) {
    Bx = 0;
    Serial.print("BLU ok18   ");}
  else {
    Bx++;
    Serial.print("--------   ");}
    
  if (Rx >= 10){RedHere = 0;}  // to check if communication lost and record it.
  else {RedHere = 1;}
  if (Wx >= 10){WhiteHere = 0;}
  else WhiteHere = 1;
  if (Bx >= 10){BlueHere = 0;}
  else {BlueHere = 1;}
  
   Serial.print(F("Rx  :"));Serial.print (Rx); Serial.print ("   ");
   Serial.print(F("RedHere  :"));Serial.print (RedHere); Serial.print ("   ");
   Serial.print(F("Wx  :"));Serial.print (Wx); Serial.print ("   ");
   Serial.print(F("WhiteHere  :"));Serial.print (WhiteHere); Serial.print ("   ");
   Serial.print(F("Bx  :"));Serial.print (Bx); Serial.print ("   ");
   Serial.print(F("BlueHere  :"));Serial.print (BlueHere); Serial.print ("   ");
}

Downloadable files

Wiring Schematic - MTC

The wiring schematic I made to build the MTC

Wiring Schematic - MTC

Documentation

Controller+-+Top+Plate+Yellow+on+top.stl

Controller+-+Screen+strap.stl

Controller parts

The top plate ( 2 versions), bottom housing and little strap for LCD screen.

Controller parts

Controller+-+Top+Plate+Yellow+on+bottom.stl

Controller+-+Bottom+v1.stl

Controller+-+Screen+strap.stl

Controller+-+Top+Plate+Yellow+on+bottom.stl

Controller+-+Top+Plate+Yellow+on+top.stl

Controller+-+Bottom+v1.stl

Controller parts

The top plate ( 2 versions), bottom housing and little strap for LCD screen.

Controller parts

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