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@@ -1,7 +1,51 @@
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#include "Joysticks.h"
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#include "Nrf.h"
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#include "SerialPasstrough.h"
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#include <TinyMPU6050.h>
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#include <Wire.h>
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#include <MPU6050_tockn.h>
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#include "Nextion.h"
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NexPage page0 = NexPage(4, 0, "uploadscreen");
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NexText t0 = NexText(1, 6, "t1");
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NexText t1 = NexText(3, 22, "t1");
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NexButton b2 = NexButton(1, 5, "b2");
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NexSlider sliders[18] = {NexSlider(3, 1, "h0"),
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NexSlider(3, 2, "h1"),
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NexSlider(3, 3, "h2"),
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NexSlider(3, 4, "h3"),
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NexSlider(3, 5, "h4"),
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NexSlider(3, 6, "h5"),
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NexSlider(3, 7, "h6"),
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NexSlider(3, 8, "h7"),
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NexSlider(3, 9, "h8"),
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NexSlider(3, 10, "h9"),
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NexSlider(3, 11, "h10"),
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NexSlider(3, 12, "h11"),
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NexSlider(3, 13, "h12"),
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NexSlider(3, 14, "h13"),
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NexSlider(3, 15, "h14"),
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NexSlider(3, 16, "h15"),
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NexSlider(3, 17, "h16"),
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NexSlider(3, 18, "h17")
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};
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char buffer[100] = {0};
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NexTouch *nex_listen_list[] =
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{
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&b2,
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&page0,
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&t0,
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&t1,
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NULL
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};
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void b2PopCallback(void *ptr)
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{
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passtrough();
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}
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MPU6050 mpu (Wire);
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@@ -9,51 +53,124 @@ dataStruct2 data;
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joyStickdataStruct joystickData;
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void setup() {
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Serial.begin(115200);
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// Serial.begin(250000, SERIAL_8E1); // ARDUINO
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Serial.begin(250000); // TEENSY
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// Serial.begin(115200);
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Serial1.begin(115200);
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// passtrough();
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nexInit();
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b2.attachPush(b2PopCallback, &b2);
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b2.attachPop(b2PopCallback, &b2);
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// for (int i = 0; i < 18; i++)
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// sliders[i] = NexSlider(3, i++, "h" + i);
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// while (true)
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// {
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// nexLoop(nex_listen_list);
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// sliders[0].setValue(30);
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// }
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// Initialization
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mpu.Initialize();
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// Wire.begin();
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// mpu.begin();
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//
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// mpu.calcGyroOffsets(true, 300, 1000);
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//
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// // Calibration
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// Serial.println("=====================================");
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// Serial.println("Starting calibration...");
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// mpu.Calibrate();
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// mpu.calcGyroOffsets();
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// Serial.println("Calibration complete!");
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// Serial.println("Offsets:");
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// Serial.print("AccX Offset = ");
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// Serial.println(mpu.GetAccXOffset());
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// Serial.print("AccY Offset = ");
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// Serial.println(mpu.GetAccYOffset());
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// Serial.print("AccZ Offset = ");
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// Serial.println(mpu.GetAccZOffset());
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// Serial.print("GyroX Offset = ");
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// Serial.println(mpu.GetGyroXOffset());
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// Serial.print("GyroY Offset = ");
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// Serial.println(mpu.GetGyroYOffset());
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// Serial.print("GyroZ Offset = ");
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// Serial.println(mpu.GetGyroZOffset());
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JoystickInit();
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NrfInit();
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}
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void loop() {
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// mpu.Execute();
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// Serial.print("AngX = ");
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// Serial.print(mpu.GetAngX());
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void passtrough()
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{
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delay(100);
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for (int i = 0; i < 10; i++)
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{
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// nexLoop(nex_listen_list);
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// delay(10);
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page0.show();
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delay(10);
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}
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Serial.begin(115200);
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Serial1.begin(115200);
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do {
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if (Serial.available()) { // If anything comes in Serial (USB),
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Serial1.write(Serial.read()); // read it and send it out Serial1 (pins 0 & 1)
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}
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if (Serial1.available()) { // If anything comes in Serial1 (pins 0 & 1)
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Serial.write(Serial1.read()); // read it and send it out Serial (USB)
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}
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} while (true);
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}
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void loop()
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{
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nexLoop(nex_listen_list);
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network.update();
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if (false)
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{
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mpu.update();
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Serial.print("AngX = ");
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Serial.print(mpu.getAngleX());
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Serial.print(" / AngY = ");
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Serial.print(mpu.getAngleY());
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Serial.print(" / AngZ = ");
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Serial.println(mpu.getAngleZ());
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}
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// Serial.print(" / AngX = ");
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// Serial.print(mpu.getGyroAngleX());
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// Serial.print(" / AngY = ");
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// Serial.print(mpu.GetAngY());
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// Serial.print(mpu.getGyroAngleY());
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// Serial.print(" / AngZ = ");
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// Serial.println(mpu.GetAngZ());
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// Serial.println(mpu.getGyroAngleZ());
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joystickData = JoystickGet(false);
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joystickData = JoystickGet(true);
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data = GetSerialData(data, false);
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// test
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if (false)
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{
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data.remotePasstroughControl = true;
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data.servoPositions[1] = (joystickData.value[2] * 0.78f);
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data.servoPositions[4] = (joystickData.value[2] * 0.78f);
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data.servoPositions[7] = (joystickData.value[2] * 0.78f);
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data.servoPositions[0] = joystickData.value[0];
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data.servoPositions[10] = 180 - (joystickData.value[2] * 0.78f);
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data.servoPositions[13] = 180 - (joystickData.value[2] * 0.78f);
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data.servoPositions[16] = 180 - (joystickData.value[2] * 0.78f);
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}
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data = NrfSendData(data, true);
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GetSerialData(data, false);
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// data = GetSerialData(data, false);
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// data.STOP = true;
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for (int i = 0; i < 18; i++)
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sliders[i].setValue(data.servoPositions[i]);
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bool ok = NrfSendData(data, false);
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// data = NrfSendData(data, false);
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if (ok)
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t0.setText("connected");
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else
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t0.setText("not connected");
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if (ok)
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t1.setText("connected");
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else
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t1.setText("not connected");
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//test
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// data = NrfGetData(data, true);
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delay(20);
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}
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