RC tank on Arduino
Radio-controlled tank firing plastic balls
Components and supplies
1
Arduino Mega 2560
1
Arduino Nano R3
Project description
Code
receiver_tank_v1.ino
arduino
1#include <Servo.h> 2Servo servoX; 3Servo servoY; 4 5byte X = 87; 6byte Xmin = 10; 7byte Xmax = 165; 8 9byte Xplus = 0; 10byte Yplus = 0; 11 12byte Y = 78; 13byte Ymin = 60; 14byte Ymax = 103; 15byte turret = 0; // (1 X+, 2 X-) 16 17byte IncomingCount = 0; // 18byte Byte2incoming[2] = {0,0}; // 19byte b_registry = 0; // 20 21byte laserPWM = 128; 22byte buttonS = 0; // 23 24byte motorS = 14; // 25byte Speed1_pwm = 56; // 26byte Speed2_pwm = 96; // 27byte Speed3_pwm = 255; // 28byte Speed1RL_pwm = 88; // 29byte Speed2RL_pwm = 112; // 30byte Speed3RL_pwm = 255; // 31byte Speed0RL_pwm = 128; // 32 33 34void setup() { 35 36Serial.begin(9600); 37// !!! 38Serial.setTimeout(500); 39 40pinMode(02, OUTPUT); // light - 41pinMode(06, OUTPUT); // laser - 42pinMode(11, OUTPUT); // gun - 43pinMode(13, OUTPUT); // 44 45// L298N 46pinMode(3, OUTPUT); //D3 - ENA 47pinMode(17, OUTPUT); //AO - INPUT1 48pinMode(16, OUTPUT); //A1 - INPUT2 49 50pinMode(15, OUTPUT); //A2 - INPUT3 51pinMode(14, OUTPUT); //A3 - INPUT4 52pinMode(5, OUTPUT); //D5 - ENB 53 54servoX.attach(9); 55servoY.attach(10); 56// 57servoX.write(X); 58servoY.write(Y); 59} 60 61void loop() { 62 63// 1.5 2- 64// 1.5 65// 66 67IncomingCount = Serial.readBytes(Byte2incoming,2); 68 69if (IncomingCount > 1) { // 2 - 70//digitalWrite(13, LOW); 71// 2- !!! 72b_registry = Byte2incoming[0]; 73// !!! 74if (b_registry == 1) buttonS = Byte2incoming[1]; 75// !!! 76if (b_registry == 2) motorS = Byte2incoming[1]; 77// !!! 78if (b_registry == 3) turret = Byte2incoming[1]; 79 80// 2 - 81Serial.write (Byte2incoming,2); 82} else { // ( ) 1.5 83//digitalWrite(13, HIGH); 84// - !!! 85} 86 87//---------------------------------------------------| 88// | 89//---------------------------------------------------| 90 91digitalWrite(02,bitRead(buttonS, 0)); // light - 92 93if (bitRead(buttonS, 1)) { // laser Sight - 94analogWrite(6, laserPWM); // 95} else analogWrite(6, 0); 96 97if (bitRead(buttonS, 2)) { // 98analogWrite(11,160); // 99delay(125); // pwm160 100analogWrite(11,0); // 125ms 101bitWrite(buttonS, 2, 0); // 102} 103 104//---------------------------------------------------| 105// L298N | 106//---------------------------------------------------| 107 108if (motorS == 14){ 109// 110analogWrite(3, 0); //D3 - ENA 111digitalWrite(14, 0); //AO - INPUT1 112digitalWrite(15, 0); //A1 - INPUT2 113// 114analogWrite(5, 0); //D5 - ENA 115digitalWrite(16, 0); //A2 - INPUT3 116digitalWrite(17, 0); //A3 - INPUT4 117} 118 119// 120 121if (motorS == 15){ 122// 123analogWrite(3, Speed1_pwm); //D3 - ENA 124digitalWrite(16, 1); //AO - INPUT1 125digitalWrite(17, 0); //A1 - INPUT2 126// 127analogWrite(5, Speed1_pwm); //D5 - ENA 128digitalWrite(14, 1); //A2 - INPUT3 129digitalWrite(15, 0); //A3 - INPUT4 130} 131 132if (motorS == 13){ 133// 134analogWrite(3, Speed1_pwm); //D3 - ENA 135digitalWrite(16, 0); //AO - INPUT1 136digitalWrite(17, 1); //A1 - INPUT2 137// 138analogWrite(5, Speed1_pwm); //D5 - ENA 139digitalWrite(14, 0); //A2 - INPUT3 140digitalWrite(15, 1); //A3 - INPUT4 141} 142 143if (motorS == 24){ 144// 145analogWrite(3, Speed1RL_pwm); //D3 - ENA 146digitalWrite(16, 0); //AO - INPUT1 147digitalWrite(17, 0); //A1 - INPUT2 148// 149analogWrite(5, Speed1RL_pwm); //D5 - ENA 150digitalWrite(14, 1); //A2 - INPUT3 151digitalWrite(15, 0); //A3 - INPUT4 152} 153 154if (motorS == 31){ 155// 156analogWrite(3, Speed1RL_pwm); //D3 - ENA 157digitalWrite(16, 1); //AO - INPUT1 158digitalWrite(17, 0); //A1 - INPUT2 159// 160analogWrite(5, Speed1RL_pwm); //D5 - ENA 161digitalWrite(14, 0); //A2 - INPUT3 162digitalWrite(15, 0); //A3 - INPUT4 163} 164 165if (motorS == 26){ 166// 167analogWrite(3, Speed1RL_pwm); //D3 - ENA 168digitalWrite(16, 0); //AO - INPUT1 169digitalWrite(17, 0); //A1 - INPUT2 170// 171analogWrite(5, Speed1RL_pwm); //D5 - ENA 172digitalWrite(14, 0); //A2 - INPUT3 173digitalWrite(15, 1); //A3 - INPUT4 174} 175 176if (motorS == 33){ 177// 178analogWrite(3, Speed1RL_pwm); //D3 - ENA 179digitalWrite(16, 0); //AO - INPUT1 180digitalWrite(17, 1); //A1 - INPUT2 181// 182analogWrite(5, Speed1RL_pwm); //D5 - ENA 183digitalWrite(14, 0); //A2 - INPUT3 184digitalWrite(15, 0); //A3 - INPUT4 185} 186 187 188// 189 190if (motorS == 17){ 191// 192analogWrite(3, Speed3_pwm); //D3 - ENA 193digitalWrite(16, 1); //AO - INPUT1 194digitalWrite(17, 0); //A1 - INPUT2 195// 196analogWrite(5, Speed3_pwm); //D5 - ENA 197digitalWrite(14, 1); //A2 - INPUT3 198digitalWrite(15, 0); //A3 - INPUT4 199} 200 201if (motorS == 11){ 202// 203analogWrite(3, Speed3_pwm); //D3 - ENA 204digitalWrite(16, 0); //AO - INPUT1 205digitalWrite(17, 1); //A1 - INPUT2 206// 207analogWrite(5, Speed3_pwm); //D5 - ENA 208digitalWrite(14, 0); //A2 - INPUT3 209digitalWrite(15, 1); //A3 - INPUT4 210} 211 212if (motorS == 22){ 213// 214analogWrite(3, Speed3RL_pwm); //D3 - ENA 215digitalWrite(16, 0); //AO - INPUT1 216digitalWrite(17, 0); //A1 - INPUT2 217// 218analogWrite(5, Speed3RL_pwm); //D5 - ENA 219digitalWrite(14, 1); //A2 - INPUT3 220digitalWrite(15, 0); //A3 - INPUT4 221} 222 223if (motorS == 29){ 224// 225analogWrite(3, Speed3RL_pwm); //D3 - ENA 226digitalWrite(16, 1); //AO - INPUT1 227digitalWrite(17, 0); //A1 - INPUT2 228// 229analogWrite(5, Speed3RL_pwm); //D5 - ENA 230digitalWrite(14, 0); //A2 - INPUT3 231digitalWrite(15, 0); //A3 - INPUT4 232} 233 234if (motorS == 28){ 235// 236analogWrite(3, Speed3RL_pwm); //D3 - ENA 237digitalWrite(16, 0); //AO - INPUT1 238digitalWrite(17, 0); //A1 - INPUT2 239// 240analogWrite(5, Speed3RL_pwm); //D5 - ENA 241digitalWrite(14, 0); //A2 - INPUT3 242digitalWrite(15, 1); //A3 - INPUT4 243} 244 245if (motorS == 35){ 246// 247analogWrite(3, Speed3RL_pwm); //D3 - ENA 248digitalWrite(16, 0); //AO - INPUT1 249digitalWrite(17, 1); //A1 - INPUT2 250// 251analogWrite(5, Speed3RL_pwm); //D5 - ENA 252digitalWrite(14, 0); //A2 - INPUT3 253digitalWrite(15, 0); //A3 - INPUT4 254} 255 256// 4 257 258 259 260//4 261 262if (motorS == 16){ 263// 264analogWrite(3, Speed2_pwm); //D3 - ENA 265digitalWrite(16, 1); //AO - INPUT1 266digitalWrite(17, 0); //A1 - INPUT2 267// 268analogWrite(5, Speed2_pwm); //D5 - ENA 269digitalWrite(14, 1); //A2 - INPUT3 270digitalWrite(15, 0); //A3 - INPUT4 271} 272 273if (motorS == 12){ 274// 275analogWrite(3, Speed2_pwm); //D3 - ENA 276digitalWrite(16, 0); //AO - INPUT1 277digitalWrite(17, 1); //A1 - INPUT2 278// 279analogWrite(5, Speed2_pwm); //D5 - ENA 280digitalWrite(14, 0); //A2 - INPUT3 281digitalWrite(15, 1); //A3 - INPUT4 282} 283 284if (motorS == 23){ 285// 286analogWrite(3, Speed2RL_pwm); //D3 - ENA 287digitalWrite(16, 0); //AO - INPUT1 288digitalWrite(17, 0); //A1 - INPUT2 289// 290analogWrite(5, Speed2RL_pwm); //D5 - ENA 291digitalWrite(14, 1); //A2 - INPUT3 292digitalWrite(15, 0); //A3 - INPUT4 293} 294 295if (motorS == 30){ 296// 297analogWrite(3, Speed2RL_pwm); //D3 - ENA 298digitalWrite(16, 1); //AO - INPUT1 299digitalWrite(17, 0); //A1 - INPUT2 300// 301analogWrite(5, Speed2RL_pwm); //D5 - ENA 302digitalWrite(14, 0); //A2 - INPUT3 303digitalWrite(15, 0); //A3 - INPUT4 304} 305 306if (motorS == 27){ 307// 308analogWrite(3, Speed2RL_pwm); //D3 - ENA 309digitalWrite(16, 0); //AO - INPUT1 310digitalWrite(17, 0); //A1 - INPUT2 311// 312analogWrite(5, Speed2RL_pwm); //D5 - ENA 313digitalWrite(14, 0); //A2 - INPUT3 314digitalWrite(15, 1); //A3 - INPUT4 315} 316 317if (motorS == 34){ 318// 319analogWrite(3, Speed2RL_pwm); //D3 - ENA 320digitalWrite(16, 0); //AO - INPUT1 321digitalWrite(17, 1); //A1 - INPUT2 322// 323analogWrite(5, Speed2RL_pwm); //D5 - ENA 324digitalWrite(14, 0); //A2 - INPUT3 325digitalWrite(15, 0); //A3 - INPUT4 326} 327 328// 4 329 330// 331 332if (motorS == 32){ 333// 334analogWrite(3, Speed0RL_pwm); //D3 - ENA 335digitalWrite(16, 1); //AO - INPUT1 336digitalWrite(17, 0); //A1 - INPUT2 337// 338analogWrite(5, Speed0RL_pwm); //D5 - ENA 339digitalWrite(14, 0); //A2 - INPUT3 340digitalWrite(15, 1); //A3 - INPUT4 341} 342 343if (motorS == 25){ 344// 345analogWrite(3, Speed0RL_pwm); //D3 - ENA 346digitalWrite(16, 0); //AO - INPUT1 347digitalWrite(17, 1); //A1 - INPUT2 348// 349analogWrite(5, Speed0RL_pwm); //D5 - ENA 350digitalWrite(14, 1); //A2 - INPUT3 351digitalWrite(15, 0); //A3 - INPUT4 352} 353 354// 355 356if (bitRead(turret,4)) Xplus = Xplus + 1; else Xplus = 0; 357 358if (bitRead(turret,1) && ((X<Xmax))) X=X+1+Xplus; 359if (bitRead(turret,0) && ((X>Xmin))) X=X-1-Xplus; 360 361servoX.write(X); 362 363if (bitRead(turret,3) && ((Y<Ymax))) Y=Y+1; 364if (bitRead(turret,2) && ((Y>Ymin))) Y=Y-1; 365 366servoY.write(Y); 367 368} 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390
receiver_tank_v1.ino
arduino
1#include <Servo.h> 2Servo servoX; 3Servo servoY; 4 5byte X = 87; 6byte Xmin = 10; 7byte Xmax = 165; 8 9byte Xplus = 0; 10byte Yplus = 0; 11 12byte Y = 78; 13byte Ymin = 60; 14byte Ymax = 103; 15byte turret = 0; // (1 X+, 2 X-) 16 17byte IncomingCount = 0; // 18byte Byte2incoming[2] = {0,0}; // 19byte b_registry = 0; // 20 21byte laserPWM = 128; 22byte buttonS = 0; // 23 24byte motorS = 14; // 25byte Speed1_pwm = 56; // 26byte Speed2_pwm = 96; // 27byte Speed3_pwm = 255; // 28byte Speed1RL_pwm = 88; // 29byte Speed2RL_pwm = 112; // 30byte Speed3RL_pwm = 255; // 31byte Speed0RL_pwm = 128; // 32 33 34void setup() { 35 36Serial.begin(9600); 37// !!! 38Serial.setTimeout(500); 39 40pinMode(02, OUTPUT); // light - 41pinMode(06, OUTPUT); // laser - 42pinMode(11, OUTPUT); // gun - 43pinMode(13, OUTPUT); // 44 45// L298N 46pinMode(3, OUTPUT); //D3 - ENA 47pinMode(17, OUTPUT); //AO - INPUT1 48pinMode(16, OUTPUT); //A1 - INPUT2 49 50pinMode(15, OUTPUT); //A2 - INPUT3 51pinMode(14, OUTPUT); //A3 - INPUT4 52pinMode(5, OUTPUT); //D5 - ENB 53 54servoX.attach(9); 55servoY.attach(10); 56// 57servoX.write(X); 58servoY.write(Y); 59} 60 61void loop() { 62 63// 1.5 2- 64// 1.5 65// 66 67IncomingCount = Serial.readBytes(Byte2incoming,2); 68 69if (IncomingCount > 1) { // 2 - 70//digitalWrite(13, LOW); 71// 2- !!! 72b_registry = Byte2incoming[0]; 73// !!! 74if (b_registry == 1) buttonS = Byte2incoming[1]; 75// !!! 76if (b_registry == 2) motorS = Byte2incoming[1]; 77// !!! 78if (b_registry == 3) turret = Byte2incoming[1]; 79 80// 2 - 81Serial.write (Byte2incoming,2); 82} else { // ( ) 1.5 83//digitalWrite(13, HIGH); 84// - !!! 85} 86 87//---------------------------------------------------| 88// | 89//---------------------------------------------------| 90 91digitalWrite(02,bitRead(buttonS, 0)); // light - 92 93if (bitRead(buttonS, 1)) { // laser Sight - 94analogWrite(6, laserPWM); // 95} else analogWrite(6, 0); 96 97if (bitRead(buttonS, 2)) { // 98analogWrite(11,160); // 99delay(125); // pwm160 100analogWrite(11,0); // 125ms 101bitWrite(buttonS, 2, 0); // 102} 103 104//---------------------------------------------------| 105// L298N | 106//---------------------------------------------------| 107 108if (motorS == 14){ 109// 110analogWrite(3, 0); //D3 - ENA 111digitalWrite(14, 0); //AO - INPUT1 112digitalWrite(15, 0); //A1 - INPUT2 113// 114analogWrite(5, 0); //D5 - ENA 115digitalWrite(16, 0); //A2 - INPUT3 116digitalWrite(17, 0); //A3 - INPUT4 117} 118 119// 120 121if (motorS == 15){ 122// 123analogWrite(3, Speed1_pwm); //D3 - ENA 124digitalWrite(16, 1); //AO - INPUT1 125digitalWrite(17, 0); //A1 - INPUT2 126// 127analogWrite(5, Speed1_pwm); //D5 - ENA 128digitalWrite(14, 1); //A2 - INPUT3 129digitalWrite(15, 0); //A3 - INPUT4 130} 131 132if (motorS == 13){ 133// 134analogWrite(3, Speed1_pwm); //D3 - ENA 135digitalWrite(16, 0); //AO - INPUT1 136digitalWrite(17, 1); //A1 - INPUT2 137// 138analogWrite(5, Speed1_pwm); //D5 - ENA 139digitalWrite(14, 0); //A2 - INPUT3 140digitalWrite(15, 1); //A3 - INPUT4 141} 142 143if (motorS == 24){ 144// 145analogWrite(3, Speed1RL_pwm); //D3 - ENA 146digitalWrite(16, 0); //AO - INPUT1 147digitalWrite(17, 0); //A1 - INPUT2 148// 149analogWrite(5, Speed1RL_pwm); //D5 - ENA 150digitalWrite(14, 1); //A2 - INPUT3 151digitalWrite(15, 0); //A3 - INPUT4 152} 153 154if (motorS == 31){ 155// 156analogWrite(3, Speed1RL_pwm); //D3 - ENA 157digitalWrite(16, 1); //AO - INPUT1 158digitalWrite(17, 0); //A1 - INPUT2 159// 160analogWrite(5, Speed1RL_pwm); //D5 - ENA 161digitalWrite(14, 0); //A2 - INPUT3 162digitalWrite(15, 0); //A3 - INPUT4 163} 164 165if (motorS == 26){ 166// 167analogWrite(3, Speed1RL_pwm); //D3 - ENA 168digitalWrite(16, 0); //AO - INPUT1 169digitalWrite(17, 0); //A1 - INPUT2 170// 171analogWrite(5, Speed1RL_pwm); //D5 - ENA 172digitalWrite(14, 0); //A2 - INPUT3 173digitalWrite(15, 1); //A3 - INPUT4 174} 175 176if (motorS == 33){ 177// 178analogWrite(3, Speed1RL_pwm); //D3 - ENA 179digitalWrite(16, 0); //AO - INPUT1 180digitalWrite(17, 1); //A1 - INPUT2 181// 182analogWrite(5, Speed1RL_pwm); //D5 - ENA 183digitalWrite(14, 0); //A2 - INPUT3 184digitalWrite(15, 0); //A3 - INPUT4 185} 186 187 188// 189 190if (motorS == 17){ 191// 192analogWrite(3, Speed3_pwm); //D3 - ENA 193digitalWrite(16, 1); //AO - INPUT1 194digitalWrite(17, 0); //A1 - INPUT2 195// 196analogWrite(5, Speed3_pwm); //D5 - ENA 197digitalWrite(14, 1); //A2 - INPUT3 198digitalWrite(15, 0); //A3 - INPUT4 199} 200 201if (motorS == 11){ 202// 203analogWrite(3, Speed3_pwm); //D3 - ENA 204digitalWrite(16, 0); //AO - INPUT1 205digitalWrite(17, 1); //A1 - INPUT2 206// 207analogWrite(5, Speed3_pwm); //D5 - ENA 208digitalWrite(14, 0); //A2 - INPUT3 209digitalWrite(15, 1); //A3 - INPUT4 210} 211 212if (motorS == 22){ 213// 214analogWrite(3, Speed3RL_pwm); //D3 - ENA 215digitalWrite(16, 0); //AO - INPUT1 216digitalWrite(17, 0); //A1 - INPUT2 217// 218analogWrite(5, Speed3RL_pwm); //D5 - ENA 219digitalWrite(14, 1); //A2 - INPUT3 220digitalWrite(15, 0); //A3 - INPUT4 221} 222 223if (motorS == 29){ 224// 225analogWrite(3, Speed3RL_pwm); //D3 - ENA 226digitalWrite(16, 1); //AO - INPUT1 227digitalWrite(17, 0); //A1 - INPUT2 228// 229analogWrite(5, Speed3RL_pwm); //D5 - ENA 230digitalWrite(14, 0); //A2 - INPUT3 231digitalWrite(15, 0); //A3 - INPUT4 232} 233 234if (motorS == 28){ 235// 236analogWrite(3, Speed3RL_pwm); //D3 - ENA 237digitalWrite(16, 0); //AO - INPUT1 238digitalWrite(17, 0); //A1 - INPUT2 239// 240analogWrite(5, Speed3RL_pwm); //D5 - ENA 241digitalWrite(14, 0); //A2 - INPUT3 242digitalWrite(15, 1); //A3 - INPUT4 243} 244 245if (motorS == 35){ 246// 247analogWrite(3, Speed3RL_pwm); //D3 - ENA 248digitalWrite(16, 0); //AO - INPUT1 249digitalWrite(17, 1); //A1 - INPUT2 250// 251analogWrite(5, Speed3RL_pwm); //D5 - ENA 252digitalWrite(14, 0); //A2 - INPUT3 253digitalWrite(15, 0); //A3 - INPUT4 254} 255 256// 4 257 258 259 260//4 261 262if (motorS == 16){ 263// 264analogWrite(3, Speed2_pwm); //D3 - ENA 265digitalWrite(16, 1); //AO - INPUT1 266digitalWrite(17, 0); //A1 - INPUT2 267// 268analogWrite(5, Speed2_pwm); //D5 - ENA 269digitalWrite(14, 1); //A2 - INPUT3 270digitalWrite(15, 0); //A3 - INPUT4 271} 272 273if (motorS == 12){ 274// 275analogWrite(3, Speed2_pwm); //D3 - ENA 276digitalWrite(16, 0); //AO - INPUT1 277digitalWrite(17, 1); //A1 - INPUT2 278// 279analogWrite(5, Speed2_pwm); //D5 - ENA 280digitalWrite(14, 0); //A2 - INPUT3 281digitalWrite(15, 1); //A3 - INPUT4 282} 283 284if (motorS == 23){ 285// 286analogWrite(3, Speed2RL_pwm); //D3 - ENA 287digitalWrite(16, 0); //AO - INPUT1 288digitalWrite(17, 0); //A1 - INPUT2 289// 290analogWrite(5, Speed2RL_pwm); //D5 - ENA 291digitalWrite(14, 1); //A2 - INPUT3 292digitalWrite(15, 0); //A3 - INPUT4 293} 294 295if (motorS == 30){ 296// 297analogWrite(3, Speed2RL_pwm); //D3 - ENA 298digitalWrite(16, 1); //AO - INPUT1 299digitalWrite(17, 0); //A1 - INPUT2 300// 301analogWrite(5, Speed2RL_pwm); //D5 - ENA 302digitalWrite(14, 0); //A2 - INPUT3 303digitalWrite(15, 0); //A3 - INPUT4 304} 305 306if (motorS == 27){ 307// 308analogWrite(3, Speed2RL_pwm); //D3 - ENA 309digitalWrite(16, 0); //AO - INPUT1 310digitalWrite(17, 0); //A1 - INPUT2 311// 312analogWrite(5, Speed2RL_pwm); //D5 - ENA 313digitalWrite(14, 0); //A2 - INPUT3 314digitalWrite(15, 1); //A3 - INPUT4 315} 316 317if (motorS == 34){ 318// 319analogWrite(3, Speed2RL_pwm); //D3 - ENA 320digitalWrite(16, 0); //AO - INPUT1 321digitalWrite(17, 1); //A1 - INPUT2 322// 323analogWrite(5, Speed2RL_pwm); //D5 - ENA 324digitalWrite(14, 0); //A2 - INPUT3 325digitalWrite(15, 0); //A3 - INPUT4 326} 327 328// 4 329 330// 331 332if (motorS == 32){ 333// 334analogWrite(3, Speed0RL_pwm); //D3 - ENA 335digitalWrite(16, 1); //AO - INPUT1 336digitalWrite(17, 0); //A1 - INPUT2 337// 338analogWrite(5, Speed0RL_pwm); //D5 - ENA 339digitalWrite(14, 0); //A2 - INPUT3 340digitalWrite(15, 1); //A3 - INPUT4 341} 342 343if (motorS == 25){ 344// 345analogWrite(3, Speed0RL_pwm); //D3 - ENA 346digitalWrite(16, 0); //AO - INPUT1 347digitalWrite(17, 1); //A1 - INPUT2 348// 349analogWrite(5, Speed0RL_pwm); //D5 - ENA 350digitalWrite(14, 1); //A2 - INPUT3 351digitalWrite(15, 0); //A3 - INPUT4 352} 353 354// 355 356if (bitRead(turret,4)) Xplus = Xplus + 1; else Xplus = 0; 357 358if (bitRead(turret,1) && ((X<Xmax))) X=X+1+Xplus; 359if (bitRead(turret,0) && ((X>Xmin))) X=X-1-Xplus; 360 361servoX.write(X); 362 363if (bitRead(turret,3) && ((Y<Ymax))) Y=Y+1; 364if (bitRead(turret,2) && ((Y>Ymin))) Y=Y-1; 365 366servoY.write(Y); 367 368} 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390
transmitter_tank_v1.ino
arduino
1#include <LiquidCrystal.h> 2LiquidCrystal lcd(2, 3, 4, 5, 6, 7); 3 4byte buttonS = 0; // 5byte buttonS_OLD = 0; // int connect = 0; 6int connect_OK = 0; // ? 7 8byte go_Old = 14; // 9byte go_New = 14; // 10byte adj_Old = 20; // 11byte adj_New = 20; // 12byte motor_Send = 14; // 13byte bounce_b = 50; // 14 15const int pinZ = 57; // 16const int pinX = A1; // X 17const int pinY = A2; // Y 18int jvalueX; // X 19int jvalueY; // Y 20byte turret = 0; // (1 X+, 2 X-) 21boolean turret_stop = false; // (1 X+, 2 X-) 22 23void setup() { 24 25Serial1.begin(9600); //open port APC220 26 27pinMode(57, INPUT); 28 29pinMode(36, INPUT_PULLUP); // light - 30pinMode(37, INPUT_PULLUP); // laser Sight - 31pinMode(38, INPUT_PULLUP); // gun - 32 33pinMode(22 , INPUT_PULLUP); 34pinMode(23 , INPUT_PULLUP); 35pinMode(24 , INPUT_PULLUP); 36pinMode(25 , INPUT_PULLUP); 37pinMode(26 , INPUT_PULLUP); 38pinMode(27 , INPUT_PULLUP); 39pinMode(28 , INPUT_PULLUP); 40 41pinMode(29 , INPUT_PULLUP); 42pinMode(30 , INPUT_PULLUP); 43pinMode(31 , INPUT_PULLUP); 44pinMode(32 , INPUT_PULLUP); 45pinMode(33 , INPUT_PULLUP); 46pinMode(34 , INPUT_PULLUP); 47pinMode(35 , INPUT_PULLUP); 48 49 50// 51lcd.begin(20, 4); 52lcd.setCursor(8, 0); 53lcd.print("LSG"); 54lcd.setCursor(8, 1); 55lcd.print("000"); 56lcd.setCursor(8, 2); 57lcd.print("---"); 58lcd.setCursor(0, 4); 59lcd.print("link--"); 60 61// 62lcd.setCursor(0, 0); 63lcd.print(go_New); 64lcd.setCursor(0, 1); 65lcd.print(adj_New); 66 67// 68 69lcd.setCursor(15, 1); 70lcd.print("j"); 71 72 73} 74 75//---------------------------------------------------| 76// 2- | 77//---------------------------------------------------| 78int Byte2sendFunction(byte BYTE1, byte BYTE2){ 79 int result; 80// !!! 81 Serial1.setTimeout(2000); 82// 2 2- 83 byte Byte2send[2] = {0,0}; // 84 byte Byte2receipt[2] = {0,0}; // 85// 86 Byte2send[0] = BYTE1; 87 Byte2send[1] = BYTE2; 88// 89 Serial1.write (Byte2send,2); 90// 91 Serial1.readBytes(Byte2receipt,2); 92// 93 if ((Byte2send[0] == Byte2receipt[0])&&(Byte2send[1] == Byte2receipt[1])) { 94// result = 1 0 95 result = 1; 96 lcd.setCursor(5, 4); 97 lcd.print("Y"); // !!! 98 } else { 99 result = 0; 100 lcd.setCursor(5, 4); 101 lcd.print("N"); // !!! 102 } 103// 104 return result; 105} 106//---------------------------------------------------| 107 108void loop() { 109 110//---------------------------------------------------| 111// !!! | 112//---------------------------------------------------| 113 114if (!digitalRead(36)) { // 115bitWrite(buttonS, 0, !(bitRead(buttonS, 0))); // 116lcd.setCursor(8, 1); 117lcd.print(bitRead(buttonS, 0)); 118} 119 120if (!digitalRead(37)) { // 121bitWrite(buttonS, 1, !(bitRead(buttonS, 1))); // 122lcd.setCursor(9, 1); 123lcd.print(bitRead(buttonS, 1)); 124} 125 126// 127bitWrite(buttonS, 2, !digitalRead(38)); // 128lcd.setCursor(10, 1); 129lcd.print(bitRead(buttonS, 2)); 130 131//---------------------------------------------------| 132// | 133//---------------------------------------------------| 134if (buttonS!=buttonS_OLD) { 135connect_OK = Byte2sendFunction(1,buttonS); 136buttonS_OLD = buttonS; 137// !!! 138if (connect_OK == 1) { 139lcd.setCursor(8, 2); 140lcd.print(bitRead(buttonS, 0)); 141lcd.setCursor(9, 2); 142lcd.print(bitRead(buttonS, 1)); 143lcd.setCursor(10,2); 144lcd.print(bitRead(buttonS, 2)); 145} 146// !!! 147if (connect_OK == 0) { 148lcd.setCursor(8, 2); 149lcd.print("---"); 150} 151} 152 153//---------------------------------------------------| 154// !!! | 155//---------------------------------------------------| 156adj_New = 20; 157 158if (!digitalRead(32)) { 159delay(bounce_b); 160if (!digitalRead(25)) go_New = 14; else adj_New = 32; 161} 162 163if (!digitalRead(25)) { 164delay(bounce_b); 165if (!digitalRead(32)) go_New = 14; else adj_New = 25; 166} 167 168if (!digitalRead(31)) { 169delay(bounce_b); 170if (!digitalRead(24)) go_New = 15; else adj_New = 31; 171} 172 173if (!digitalRead(24)) { 174delay(bounce_b); 175if (!digitalRead(31)) go_New = 15; else adj_New = 24; 176} 177 178if (!digitalRead(30)) { 179delay(bounce_b); 180if (!digitalRead(23)) go_New = 16; else adj_New = 30; 181} 182 183if (!digitalRead(23)) { 184delay(bounce_b); 185if (!digitalRead(30)) go_New = 16; else adj_New = 23; 186} 187 188if (!digitalRead(29)) { 189delay(bounce_b); 190if (!digitalRead(22)) go_New = 17; else adj_New = 29; 191} 192 193if (!digitalRead(22)) { 194delay(bounce_b); 195if (!digitalRead(29)) go_New = 17; else adj_New = 22; 196} 197 198if (!digitalRead(33)) { 199delay(bounce_b); 200if (!digitalRead(26)) go_New = 13; else adj_New = 33; 201} 202 203if (!digitalRead(26)) { 204delay(bounce_b); 205if (!digitalRead(33)) go_New = 13; else adj_New = 26; 206} 207 208if (!digitalRead(34)) { 209delay(bounce_b); 210if (!digitalRead(27)) go_New = 12; else adj_New = 34; 211} 212 213if (!digitalRead(27)) { 214delay(bounce_b); 215if (!digitalRead(34)) go_New = 12; else adj_New = 27; 216} 217 218if (!digitalRead(35)) { 219delay(bounce_b); 220if (!digitalRead(28)) go_New = 11; else adj_New = 35; 221} 222 223if (!digitalRead(28)) { 224delay(bounce_b); 225if (!digitalRead(35)) go_New = 11; else adj_New = 28; 226} 227 228if ((go_Old != go_New) || (adj_Old != adj_New)){ 229// 230lcd.setCursor(0, 0); 231lcd.print(go_New); 232lcd.setCursor(0, 1); 233lcd.print(adj_New); 234 235if (adj_New > 20) { // 236motor_Send = adj_New; 237adj_Old = adj_New; 238} else { // 239motor_Send = go_New; 240go_Old = go_New; 241adj_Old = 20; // 242} 243// !!! 244 245connect_OK = Byte2sendFunction(2,motor_Send); 246 247// !!! 248if (connect_OK == 1) { 249lcd.setCursor(0, 2); 250lcd.print(motor_Send); 251} 252// !!! 253if (connect_OK == 0) { 254lcd.setCursor(0, 2); 255lcd.print("--"); 256} 257 258} // 259 260 261//---------------------------------------------------| 262// !!! | 263//---------------------------------------------------| 264 265// !!! 266if (digitalRead(pinZ)) { 267lcd.setCursor(16, 0); 268lcd.print("Z"); 269} else { 270lcd.setCursor(16, 0); 271lcd.print("z"); 272} 273 274// 275jvalueX = analogRead(pinX); 276jvalueY = analogRead(pinY); 277turret = 0; 278//0- - 279//1- - 280if (jvalueX > 712) bitWrite(turret, 0, 1); 281if (jvalueX < 312) bitWrite(turret, 1, 1); 282//4 " " 283if ((jvalueX > 1013)||(jvalueX < 10)) bitWrite(turret, 4, 1); 284 285// 286lcd.setCursor(16, 1); 287lcd.print(bitRead(turret,0)); 288lcd.setCursor(14, 1); 289lcd.print(bitRead(turret,1)); 290 291//2- - 292//3- - 293if (jvalueY > 712) bitWrite(turret, 2, 1); 294if (jvalueY < 312) bitWrite(turret, 3, 1); 295// Y 296lcd.setCursor(15, 0); 297lcd.print(bitRead(turret,2)); 298lcd.setCursor(15, 1); 299lcd.print(bitRead(turret,3)); 300 301lcd.setCursor(15, 2); 302lcd.print(" "); 303lcd.setCursor(15, 2); 304lcd.print(jvalueX); 305 306if (turret !=0) { 307connect_OK = Byte2sendFunction(3,turret); 308turret_stop = true; 309} 310 311if ((turret == 0) && (turret_stop)) { 312connect_OK = Byte2sendFunction(3,0); 313turret_stop = false; 314} 315 316} 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344
transmitter_tank_v1.ino
arduino
1#include <LiquidCrystal.h> 2LiquidCrystal lcd(2, 3, 4, 5, 6, 7); 3 4byte 5 buttonS = 0; // 6byte buttonS_OLD = 0; // int connect = 7 0; 8int connect_OK = 0; // ? 9 10byte go_Old = 14; // 11 12byte go_New = 14; // 13byte adj_Old = 20; // 14byte 15 adj_New = 20; // 16byte motor_Send = 14; // 17byte bounce_b 18 = 50; // 19 20const int pinZ = 57; // 21const int pinX 22 = A1; // X 23const int pinY = A2; // Y 24int jvalueX; // 25 X 26int jvalueY; // Y 27byte turret = 0; // 28 (1 X+, 2 X-) 29boolean turret_stop = false; // (1 X+, 2 X-) 30 31void 32 setup() { 33 34Serial1.begin(9600); //open port APC220 35 36pinMode(57, 37 INPUT); 38 39pinMode(36, INPUT_PULLUP); // light - 40pinMode(37, INPUT_PULLUP); 41 // laser Sight - 42pinMode(38, INPUT_PULLUP); // gun - 43 44pinMode(22 45 , INPUT_PULLUP); 46pinMode(23 , INPUT_PULLUP); 47pinMode(24 , INPUT_PULLUP); 48pinMode(25 49 , INPUT_PULLUP); 50pinMode(26 , INPUT_PULLUP); 51pinMode(27 , INPUT_PULLUP); 52pinMode(28 53 , INPUT_PULLUP); 54 55pinMode(29 , INPUT_PULLUP); 56pinMode(30 , INPUT_PULLUP); 57pinMode(31 58 , INPUT_PULLUP); 59pinMode(32 , INPUT_PULLUP); 60pinMode(33 , INPUT_PULLUP); 61pinMode(34 62 , INPUT_PULLUP); 63pinMode(35 , INPUT_PULLUP); 64 65 66// 67lcd.begin(20, 68 4); 69lcd.setCursor(8, 0); 70lcd.print("LSG"); 71lcd.setCursor(8, 1); 72lcd.print("000"); 73lcd.setCursor(8, 74 2); 75lcd.print("---"); 76lcd.setCursor(0, 4); 77lcd.print("link--"); 78 79// 80 81lcd.setCursor(0, 0); 82lcd.print(go_New); 83lcd.setCursor(0, 1); 84lcd.print(adj_New); 85 86// 87 88 89lcd.setCursor(15, 1); 90lcd.print("j"); 91 92 93} 94 95//---------------------------------------------------| 96// 97 2- | 98//---------------------------------------------------| 99int Byte2sendFunction(byte 100 BYTE1, byte BYTE2){ 101 int result; 102// !!! 103 Serial1.setTimeout(2000); 104// 105 2 2- 106 byte Byte2send[2] = {0,0}; // 107 byte Byte2receipt[2] = {0,0}; 108 // 109// 110 Byte2send[0] = BYTE1; 111 Byte2send[1] = BYTE2; 112// 113 114 Serial1.write (Byte2send,2); 115// 116 Serial1.readBytes(Byte2receipt,2); 117// 118 119 if ((Byte2send[0] == Byte2receipt[0])&&(Byte2send[1] == Byte2receipt[1])) 120 { 121// result = 1 0 122 result = 1; 123 lcd.setCursor(5, 4); 124 lcd.print("Y"); 125 // !!! 126 } else { 127 result = 0; 128 lcd.setCursor(5, 4); 129 lcd.print("N"); 130 // !!! 131 } 132// 133 return result; 134} 135//---------------------------------------------------| 136 137void 138 loop() { 139 140//---------------------------------------------------| 141// !!! 142 | 143//---------------------------------------------------| 144 145if 146 (!digitalRead(36)) { // 147bitWrite(buttonS, 0, !(bitRead(buttonS, 0))); // 148 149lcd.setCursor(8, 1); 150lcd.print(bitRead(buttonS, 0)); 151} 152 153if (!digitalRead(37)) 154 { // 155bitWrite(buttonS, 1, !(bitRead(buttonS, 1))); // 156lcd.setCursor(9, 157 1); 158lcd.print(bitRead(buttonS, 1)); 159} 160 161// 162bitWrite(buttonS, 2, !digitalRead(38)); 163 // 164lcd.setCursor(10, 1); 165lcd.print(bitRead(buttonS, 2)); 166 167//---------------------------------------------------| 168// 169 | 170//---------------------------------------------------| 171if (buttonS!=buttonS_OLD) 172 { 173connect_OK = Byte2sendFunction(1,buttonS); 174buttonS_OLD = buttonS; 175// 176 !!! 177if (connect_OK == 1) { 178lcd.setCursor(8, 2); 179lcd.print(bitRead(buttonS, 180 0)); 181lcd.setCursor(9, 2); 182lcd.print(bitRead(buttonS, 1)); 183lcd.setCursor(10,2); 184lcd.print(bitRead(buttonS, 185 2)); 186} 187// !!! 188if (connect_OK == 0) { 189lcd.setCursor(8, 2); 190lcd.print("---"); 191 192} 193} 194 195//---------------------------------------------------| 196// 197 !!! | 198//---------------------------------------------------| 199adj_New 200 = 20; 201 202if (!digitalRead(32)) { 203delay(bounce_b); 204if (!digitalRead(25)) 205 go_New = 14; else adj_New = 32; 206} 207 208if (!digitalRead(25)) { 209delay(bounce_b); 210if 211 (!digitalRead(32)) go_New = 14; else adj_New = 25; 212} 213 214if (!digitalRead(31)) 215 { 216delay(bounce_b); 217if (!digitalRead(24)) go_New = 15; else adj_New = 31; 218} 219 220if 221 (!digitalRead(24)) { 222delay(bounce_b); 223if (!digitalRead(31)) go_New = 15; else 224 adj_New = 24; 225} 226 227if (!digitalRead(30)) { 228delay(bounce_b); 229if (!digitalRead(23)) 230 go_New = 16; else adj_New = 30; 231} 232 233if (!digitalRead(23)) { 234delay(bounce_b); 235if 236 (!digitalRead(30)) go_New = 16; else adj_New = 23; 237} 238 239if (!digitalRead(29)) 240 { 241delay(bounce_b); 242if (!digitalRead(22)) go_New = 17; else adj_New = 29; 243} 244 245if 246 (!digitalRead(22)) { 247delay(bounce_b); 248if (!digitalRead(29)) go_New = 17; else 249 adj_New = 22; 250} 251 252if (!digitalRead(33)) { 253delay(bounce_b); 254if (!digitalRead(26)) 255 go_New = 13; else adj_New = 33; 256} 257 258if (!digitalRead(26)) { 259delay(bounce_b); 260if 261 (!digitalRead(33)) go_New = 13; else adj_New = 26; 262} 263 264if (!digitalRead(34)) 265 { 266delay(bounce_b); 267if (!digitalRead(27)) go_New = 12; else adj_New = 34; 268} 269 270if 271 (!digitalRead(27)) { 272delay(bounce_b); 273if (!digitalRead(34)) go_New = 12; else 274 adj_New = 27; 275} 276 277if (!digitalRead(35)) { 278delay(bounce_b); 279if (!digitalRead(28)) 280 go_New = 11; else adj_New = 35; 281} 282 283if (!digitalRead(28)) { 284delay(bounce_b); 285if 286 (!digitalRead(35)) go_New = 11; else adj_New = 28; 287} 288 289if ((go_Old != 290 go_New) || (adj_Old != adj_New)){ 291// 292lcd.setCursor(0, 0); 293lcd.print(go_New); 294lcd.setCursor(0, 295 1); 296lcd.print(adj_New); 297 298if (adj_New > 20) { // 299motor_Send = 300 adj_New; 301adj_Old = adj_New; 302} else { // 303motor_Send = go_New; 304 305go_Old = go_New; 306adj_Old = 20; // 307} 308// !!! 309 310connect_OK 311 = Byte2sendFunction(2,motor_Send); 312 313// !!! 314if (connect_OK == 1) { 315lcd.setCursor(0, 316 2); 317lcd.print(motor_Send); 318} 319// !!! 320if (connect_OK == 0) { 321lcd.setCursor(0, 322 2); 323lcd.print("--"); 324} 325 326} // 327 328 329//---------------------------------------------------| 330// 331 !!! | 332//---------------------------------------------------| 333 334// 335 !!! 336if (digitalRead(pinZ)) { 337lcd.setCursor(16, 0); 338lcd.print("Z"); 339 340} else { 341lcd.setCursor(16, 0); 342lcd.print("z"); 343} 344 345// 346 347jvalueX = analogRead(pinX); 348jvalueY = analogRead(pinY); 349turret = 0; 350//0- 351 - 352//1- - 353if (jvalueX > 712) bitWrite(turret, 0, 1); 354if (jvalueX 355 < 312) bitWrite(turret, 1, 1); 356//4 " " 357if ((jvalueX > 1013)||(jvalueX 358 < 10)) bitWrite(turret, 4, 1); 359 360// 361lcd.setCursor(16, 1); 362lcd.print(bitRead(turret,0)); 363lcd.setCursor(14, 364 1); 365lcd.print(bitRead(turret,1)); 366 367//2- - 368//3- - 369if (jvalueY 370 > 712) bitWrite(turret, 2, 1); 371if (jvalueY < 312) bitWrite(turret, 3, 1); 372// 373 Y 374lcd.setCursor(15, 0); 375lcd.print(bitRead(turret,2)); 376lcd.setCursor(15, 377 1); 378lcd.print(bitRead(turret,3)); 379 380lcd.setCursor(15, 2); 381lcd.print(" 382 "); 383lcd.setCursor(15, 2); 384lcd.print(jvalueX); 385 386if (turret !=0) 387 { 388connect_OK = Byte2sendFunction(3,turret); 389turret_stop = true; 390} 391 392if 393 ((turret == 0) && (turret_stop)) { 394connect_OK 395 = Byte2sendFunction(3,0); 396turret_stop = false; 397} 398 399} 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427
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