Update files

Joysticks.h

@@ -1,7 +1,7 @@
 #include <EEPROM.h>
 
 // start reading from the first byte (address 0) of the EEPROM
-int address = 0;
+unsigned int address = 0;
 byte value;
 
 // Joystick vars
@@ -11,8 +11,10 @@ int sensorValue = 0;
 int outputValue = 0;
 
 //volatile int center[6] = {0, 0, 0, 0, 0, 0};
-volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000};
+//volatile int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //ARDUINO
-volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0};
+//volatile int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //ARDUINO
+int minvalue[6] = {1000, 1000, 1000, 1000, 1000, 1000}; //TEENSY
+int maxvalue[6] = {0, 0, 0, 0, 0, 0}; //TEENSY
 
 void JoystickInit()
 {

Nrf.h

@@ -21,9 +21,10 @@ void NrfInit()
   radio.setPALevel(RF24_PA_LOW);
 }
 
-dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
+bool NrfSendData(dataStruct2 data, bool debug = false)
+//dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
 {
-  network.update();
+  //  network.update();
 
   if (debug)
     Serial.print("Sending...");
@@ -39,5 +40,25 @@ dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
       Serial.println("failed.");
   }
 
+  return ok;
+  //  return data;
+}
+
+dataStruct2 NrfGetData(dataStruct2 data, bool debug = false)
+{
+  //  network.update();
+  int timeout = millis() + 100;
+  while ( network.available() && timeout > millis() )
+  {
+    RF24NetworkHeader header;
+    network.read(header, &data, sizeof(data));
+
+    if (debug)
+    {
+      Serial.print("Received packet ");
+      Serial.println(data.servoPositions[0]);
+    }
+  }
+
   return data;
 }

SerialPasstrough.h

@@ -1,28 +1,103 @@
 #include "TransferDataStructure.h"
 
-dataStruct2 GetSerialData(dataStruct2 dataIn, bool debug = false)
+String getValue(String data, char separator, int index)
 {
-  if (Serial.available())
+  int found = 0;
-  {
+  int strIndex[] = { 0, -1 };
-    String data = Serial.readStringUntil('\r');
   int maxIndex = data.length() - 1;
-    int index = 0;
-    int next_index;
-    String data_word;
-    String channel;
-    String angle;
-    do {
-      next_index = data.indexOf(',', index);
 
-      data_word = data.substring(index, next_index);
+  for (int i = 0; i <= maxIndex && found <= index; i++) {
-      channel = data_word.substring(0, data_word.indexOf('_'));
+    if (data.charAt(i) == separator || i == maxIndex) {
-      angle = data_word.substring(data_word.indexOf('_') + 1);
+      found++;
+      strIndex[0] = strIndex[1] + 1;
+      strIndex[1] = (i == maxIndex) ? i + 1 : i;
+    }
+  }
+  return found > index ? data.substring(strIndex[0], strIndex[1]) : "";
+}
 
-      if (isDigit(angle[0])) // prevent error overwriting first entry.
+dataStruct2 GetSerialData(dataStruct2 &dataIn, bool debug = false)
-        dataIn.servoPositions[channel.toInt()] = angle.toFloat();
+{
+  if (Serial.available() && Serial.peek() != -1)
+  {
+    //    String data = Serial.readStringUntil('\r');
+    //    while (Serial.read() >= 0);
+    //    int maxIndex = data.length() - 1;
+    //    int index = 0;
+    //    int next_index;
+    //    String data_word;
+    //    String channel;
+    //    String angle;
+    //    do {
+    //      next_index = data.indexOf(',', index);
+    //
+    //      data_word = data.substring(index, next_index);
+    //      channel = data_word.substring(0, data_word.indexOf('_'));
+    //      angle = data_word.substring(data_word.indexOf('_') + 1);
+    //
+    //      if (isDigit(angle[0])) // prevent error overwriting first entry.
+    //        dataIn.servoPositions[channel.toInt()] = angle.toFloat();
+    //
+    //      index = next_index + 1;
+    //    } while ((next_index != -1) && (next_index < maxIndex));
 
-      index = next_index + 1;
+
-    } while ((next_index != -1) && (next_index < maxIndex));
+    /*String s = Serial.readStringUntil('s');
+      for (int i = 0; i < 18; i++)
+      {
+      Serial.setTimeout(10);
+      String c = Serial.readStringUntil('_');
+      String v = Serial.readStringUntil(',');
+      String cc = Serial.readStringUntil('=');
+      int channel = c.toInt();
+      int value = v.toInt();
+      int crc = cc.toInt();
+
+      if ((crc == (channel) * value) && value >= 0 && value <= 180)
+        dataIn.servoPositions[channel] = value;*/
+    //byte recv[18 + 1];
+    if (Serial.available() >= 18 + 1 + 2 + 30)
+    {
+      bool recc = false;
+      byte recv[256] = {0};
+      //Serial.readBytesUntil(0xffffff, recv, 255);
+      Serial.readBytesUntil(0xff, recv, 255);
+      for (int i = 0; i < 255 - 19; i++)
+      {
+        //  if (recv[i + 1] == 0xff && recv[i + 2] == 0xff && recv[i + 3] == 0xff)
+        if (recv[i + 19] == 0xfe)
+        {
+          for (int j = 0; j < 18 + 1; j++)
+          {
+            recv[j] = recv[(i) + j];
+          }
+          recc = true;
+
+          break;
+        }
+      }
+
+
+      //s.getBytes(recv, s.length());
+      byte crc = 0x00;
+      for (int i = 0; i < 18; i++)
+      {
+        crc += recv[i];
+      }
+
+
+      if (crc == recv[18])
+      {
+
+        if (recc)
+        {
+          for (int i = 0; i < 18; i++)
+          {
+            dataIn.servoPositions[i] = recv[i];
+          }
+        }
+      }
+      //}
 
       dataIn.remotePasstroughControl = true;
 
@@ -41,6 +116,7 @@ dataStruct2 GetSerialData(dataStruct2 dataIn, bool debug = false)
         Serial.println("");
       }
     }
+  }
 
   return dataIn;
 }

TransferDataStructure.h

@@ -3,6 +3,8 @@
 
 struct __attribute__((__packed__)) dataStruct2
 {
+  bool STOP = false;
+
   float walkSpeed = 10; //step size
   float walkSpeed2 = 0; //gate speed
   float walkRotation = 0 ;
@@ -13,7 +15,15 @@ struct __attribute__((__packed__)) dataStruct2
   float rotation[3] = {0, 0, 0};
 
   bool remotePasstroughControl = 0;
-  uint16_t servoPositions[18];
+  float servoPositions[18] = {
+    90, 90, 90,
+    90, 90, 90,
+    90, 90, 90,
+
+    90, 90, 90,
+    90, 90, 90,
+    90, 90, 90
+  };
 } dataStruct;
 
 

remote.ino

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