@ 棋牌资讯 Arduino和3D打印技术自制RC无线控制器制作过程详解
棋牌资讯 Arduino和3D打印技术自制RC无线控制器制作过程详解
发布日期：2022-03-08 05:44 点击次数：211
前两天发布的一个用Arduino制作的RC控制器，有朋友留言说对这个项目的制作过感兴趣，所以本期我把制作的详细过程与大家一起分享。第1部分—发射机原理图 下面是这个项目的示意图，其中包含所有连接和组件值。在下面的完整部件列表中也检查这个项目所需的所有内容。确保你把降压转换器设置为12.6V和3.3V，然后再连接到电路。这是非常重要的。对于发射机，您需要一个NRF24模块与功率放大天线，以获得更广的通讯范围。
第2部分- src="/uploads/allimg/220408/212JVT4-1.jpg">我用了2个周长和20%填充所有的零件和PLA材料。不需要支持。零件已经定向好，可以打印了。我的打印机有一个0.4mm的喷嘴，图层高度设置为0.3mm。第3部分- 接收器组装首先，我把电池串联起来，把它们粘在无线电控制器的后面。然后焊接电线从直流插座到大电流升压/降压转换器，插入主适配器。然后我将转换器设置为12.6V，并粘上电位器，这样它就会保持这种状态。现在我将电池连接到3S 平衡充电板，并将buck对流器的输出连接到BMS输入/输出。我把所有东西都粘在箱子上。
第二步是添加所有的小按钮。在每个支撑孔上放置两个按钮，如下所示。同样，一个按钮上在小的支撑孔上。然后，在盖子顶部的每个孔上添加一个小的塑料按钮，然后我们在3D打印外壳的每个顶部支撑柱的位置拧上螺钉固定。
现在，用导线连接操纵杆电位器到GND,5V和信号。然后将操纵杆和滑动开关螺丝固定在控制器中间。在顶部添加触发开关和电位器。最后，将Arduino NANO开发板粘在一个角落上。
好的，现在，非常重要的一步你要把小的buck转换器设置为3.3V，然后把电位计粘在一起。然后将其连接到NRF24模块。最后，将所有的电线连接到Arduino，如图所示。加上i2c OLED显示屏，把所有东西都粘在盒子里。从箱子的另一部分接上电源，就这样。现在您可以盖好外壳并为Arduino Nano控制板编写程序。
好的，对于代码，请确保从下面的链接下载并安装OLED和NRF24库。然后，下载代码，编译并将其上传到Arduino。要了解更多细节，请阅读代码中的注释，以便了解如何调节和优化操纵杆信号读取和电池读取的所有值。#include <SPI.h> #include <nRF24L01.h>
//Downlaod it here: https://www.electronoobs.com/eng_arduino_NRF24.php
#include <RF24.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
//Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_GFX.php #include <Adafruit_SSD1306.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_SSD1306.php
#include <EEPROM.h>
/*A basic 6 channel transmitter using the nRF24L01 module.*/
/* Like, share and subscribe, ELECTRONOOBS */
/* http://www.youtube/c/electronoobs */
/* First we include the libraries. Download it from
my webpage if you donw have the NRF24 library */
//This are the bytes for the EN logo
static const unsigned char PROGMEM my_logo[] =
{/* 0X00,0X01,0X7C,0X00,0X40,0X00, */
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};
#include <SPI.h>
#include <nRF24L01.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_NRF24.php
#include <RF24.h>
#include <Wire.h>
#include <Adafruit_GFX.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_GFX.php
#include <Adafruit_SSD1306.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_SSD1306.php
#include <EEPROM.h>
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//OLED setup
#define OLED_RESET 8
Adafruit_SSD1306 display(OLED_RESET);
#define NUMFLAKES 5
#define XPOS 0
#define YPOS 1
#define DELTAY 2
#if (SSD1306_LCDHEIGHT != 64)
#error("Height incorrect, please fix this in the Adafruit_SSD1306.h!");
#endif
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*Create a unique pipe out. The receiver has to
wear the same unique code*/
const uint64_t pipeOut = 0xE8E8F0F0E1LL; //IMPORTANT: The same as in the receiver!!!
RF24 radio(9, 10); // select CSN pin
// The sizeof this struct should not exceed 32 bytes
// This gives us up to 32 8 bits channals
struct MyData {
byte throttle;
byte yaw;
byte pitch;
byte roll;
byte AUX1;
byte AUX2;
};
MyData data;
//Inputs outputs
int battery_in = A7; //pin for analog in from the battery divider
int buttons_analog_in = A6; //Analog in from all the push buttons
int toggle_1 = 3;
int toggle_2 = 2;
int throttle_in = A0;
int yaw_in = A1;
int pitch_in = A2;
int roll_in = A3;
int mode_in = 4;
int buzzer = 5;
//Variables
float battery_level = 0;
int throttle_fine = 0;
int yaw_fine = 0;
int pitch_fine = 0;
int roll_fine = 0;
int button_read = 0;
int throttle_to_send = 0;
int yaw_to_send = 0;
int pitch_to_send = 0;
int roll_to_send = 0;
bool throttle_inverted = false;
bool yaw_inverted = true;
bool pitch_inverted = true;
bool roll_inverted = false;
bool yaw_decrease = false;
bool throttle_decrease = false;
bool pitch_decrease = false;
bool roll_decrease = false;
bool yaw_increase = false;
bool throttle_increase = false;
bool pitch_increase = false;
bool roll_increase = false;
bool mode = true;
bool mode_button_pressed = false;
bool sound = true;
int counter = 0;
int invert_counter = 0;
bool sound_changed = false;
void resetData()
{
//This are the start values of each channal
// Throttle is 0 in order to stop the motors
//127 is the middle value of the 10ADC.
data.throttle = 127;
data.yaw = 127;
data.pitch = 127;
data.roll = 127;
data.AUX1 = 0;
data.AUX2 = 0;
}
void setup()
{
if( EEPROM.read(1) != 55)
{
EEPROM.write(2, 127);
EEPROM.write(3, 127);
EEPROM.write(4, 127);
EEPROM.write(5, 127);
EEPROM.write(6, 0);
EEPROM.write(7, 1);
EEPROM.write(8, 1);
EEPROM.write(9, 0);
EEPROM.write(1, 55);
}
throttle_fine = EEPROM.read(2);
yaw_fine = EEPROM.read(3);
pitch_fine = EEPROM.read(4);
roll_fine = EEPROM.read(5);
throttle_inverted = EEPROM.read(6);
yaw_inverted = EEPROM.read(7);
pitch_inverted = EEPROM.read(8);
roll_inverted = EEPROM.read(9);
pinMode(buttons_analog_in, INPUT);
pinMode(mode_in, INPUT_PULLUP);
pinMode(buzzer, OUTPUT);
digitalWrite(buzzer,LOW);
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x32)
delay(100);
display.clearDisplay();
display.setTextSize(1); //Set text size
display.setTextColor(WHITE); //Choose color
display.drawBitmap(0, 0, my_logo, 128, 64, 1);
digitalWrite(buzzer,HIGH);
delay(40);
digitalWrite(buzzer,LOW);
delay(40);
digitalWrite(buzzer,HIGH);
delay(40);
digitalWrite(buzzer,LOW);
display.display();
delay(2000);
//Start everything up
radio.begin();
radio.setAutoAck(false);
radio.setPALevel(RF24_PA_HIGH);
radio.setDataRate(RF24_250KBPS);
radio.openWritingPipe(pipeOut);
resetData();
}
/**************************************************/
int map_normal(int val, int lower, int middle, int upper, bool reverse)
{
val = constrain(val, lower, upper);
if ( val < middle )
val = map(val, lower, middle, 0, 128);
else
val = map(val, middle, upper, 128, 255);
return ( reverse ? 255 - val : val );
}
// Returns a corrected value for a joystick position that takes into account
// the values of the outer extents and the middle of the joystick range.
int map_exponential(int val, bool reverse)
{
val = constrain(val, 0, 1023);
float cube = ((pow((val - 512),3)/520200) + 258.012) / 2;
return ( reverse ? 255 - cube : cube );
}
void loop()
{
//battery read
battery_level = analogRead(battery_in) / 67.331; //////Voltage divider is 10k and 20K so 1/3
//Buttons read
button_read = analogRead(buttons_analog_in);
//Reset buttons
if(button_read > 820)
{
yaw_decrease = false;
throttle_decrease = false;
pitch_decrease = false;
roll_decrease = false;
yaw_increase = false;
throttle_increase = false;
pitch_increase = false;
roll_increase = false;
}
//////////////////////////////////////////////////////////////////////////////////////////
//YAW buttons
if(button_read < 260 && button_read > 200 && !yaw_decrease)
{
yaw_fine = yaw_fine + 1;
yaw_decrease = true;
EEPROM.write(3, yaw_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 120 && button_read > 50 && !yaw_increase)
{
yaw_fine = yaw_fine - 1;
yaw_increase = true;
EEPROM.write(3, yaw_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//////////////////////////////////////////////////////////////////////////////////////////
//THROTTLE buttons
if(button_read < 500 && button_read > 430 && !throttle_decrease)
{
throttle_fine = throttle_fine + 1;
throttle_decrease = true;
EEPROM.write(2, throttle_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 380 && button_read > 320 && !throttle_increase)
{
throttle_fine = throttle_fine - 1;
throttle_increase = true;
EEPROM.write(2, throttle_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//////////////////////////////////////////////////////////////////////////////////////////
//PITCH buttons
if(button_read < 610 && button_read > 550 && !pitch_decrease)
{
pitch_fine = pitch_fine + 1;
pitch_decrease = true;
EEPROM.write(4, pitch_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 690 && button_read > 630 && !pitch_increase)
{
pitch_fine = pitch_fine - 1;
pitch_increase = true;
EEPROM.write(4, pitch_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//////////////////////////////////////////////////////////////////////////////////////////
//ROLL buttons
if(button_read < 820 && button_read > 760 && !roll_decrease)
{
roll_fine = roll_fine + 1;
roll_decrease = true;
EEPROM.write(5, roll_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 760 && button_read > 700 && !roll_increase)
{
roll_fine = roll_fine - 1;
roll_increase = true;
EEPROM.write(5, roll_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//Mode select button
if(!digitalRead(mode_in) && !mode_button_pressed)
{
mode = !mode;
mode_button_pressed = true;
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(!digitalRead(mode_in) && !sound_changed)
{
if(counter > 20)
{
sound = !sound;
counter = 0;
sound_changed = true;
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
counter = counter + 1;
}
//Invert channels
//THROTTLE INVERT
if(button_read < 500 && button_read > 430)
{
if(invert_counter > 30)
{
throttle_inverted = !throttle_inverted;
invert_counter = 0;
EEPROM.write(6, throttle_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(13,30); //Select where to print 124 x 64
display.print("Throttle inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
//YAW INVERT
if(button_read < 260 && button_read > 200)
{
if(invert_counter > 30)
{
yaw_inverted = !yaw_inverted;
invert_counter = 0;
EEPROM.write(7, yaw_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(15,30); //Select where to print 124 x 64
display.print(" Yaw inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
//PITCH INVERT
if(button_read < 610 && button_read > 550)
{
if(invert_counter > 30)
{
pitch_inverted = !pitch_inverted;
invert_counter = 0;
EEPROM.write(8, pitch_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(13,30); //Select where to print 124 x 64
display.print(" Pitch inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
//ROLL INVERT
if(button_read < 820 && button_read > 760)
{
if(invert_counter > 30)
{
roll_inverted = !roll_inverted;
invert_counter = 0;
EEPROM.write(9, roll_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(15,30); //Select where to print 124 x 64
display.print(" Roll inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
if(digitalRead(mode_in) && mode_button_pressed)
{
mode_button_pressed= false;
sound_changed = false;
counter = 0;
invert_counter = 0;
}
//Mode select
if(!mode)
{
throttle_to_send = map_normal(analogRead(throttle_in), 0, 512, 1023, throttle_inverted);
yaw_to_send = map_normal(analogRead(yaw_in), 0, 512, 1023, yaw_inverted);
pitch_to_send = map_normal(analogRead(pitch_in), 0, 512, 1023, pitch_inverted);
roll_to_send = map_normal(analogRead(roll_in), 0, 512, 1023, roll_inverted);
}
if(mode)
{
throttle_to_send = map_exponential(analogRead(throttle_in), throttle_inverted);
yaw_to_send = map_exponential(analogRead(yaw_in), yaw_inverted);
pitch_to_send = map_exponential(analogRead(pitch_in), pitch_inverted);
roll_to_send = map_exponential(analogRead(roll_in), roll_inverted);
}
throttle_to_send = throttle_to_send + throttle_fine - 127;
yaw_to_send = yaw_to_send + yaw_fine - 127;
pitch_to_send = pitch_to_send + pitch_fine - 127;
roll_to_send = roll_to_send + roll_fine - 127;
data.throttle = constrain(throttle_to_send,0,255);
data.yaw = constrain(yaw_to_send,0,255);
data.pitch = constrain(pitch_to_send,0,255);
data.roll = constrain(roll_to_send,0,255);
data.AUX1 = digitalRead(toggle_1);
data.AUX2 = digitalRead(toggle_2);
radio.write(&data, sizeof(MyData));
display.clearDisplay(); //Clear the display
if(sound)
{
display.setCursor(0,0); //Select where to print 124 x 64
display.print("Sound ON");
}
if(!sound)
{
display.setCursor(0,0); //Select where to print 124 x 64
display.print("Sound OFF");
}
display.setCursor(90,0); //Select where to print 124 x 64
display.print(battery_level,1);
display.print("V");
display.setCursor(0,16); //Select where to print 124 x 64
display.print("T: ");
display.print(throttle_to_send);
display.print(" P: ");
display.print(pitch_to_send);
display.setCursor(0,29);
display.print("Y: ");
display.print(yaw_to_send);
display.print(" R: ");
display.print(roll_to_send);
//
display.setCursor(0,42);
display.print("SW1: ");
display.print(digitalRead(toggle_1));
display.print(" SW2: ");
display.print(digitalRead(toggle_2));
if(mode)
{
display.setCursor(0,56);
display.print("Mode: ");
display.print("Exponential");
}
if(!mode)
{
display.setCursor(0,56);
display.print("Mode: ");
display.print("Linear");
}
//
display.display();
}将上面的代码拷贝到Arduino IDE中，编绎正确后，用USB电缆连接计算机和控制器上的USB接口，将编译通过的固件上传到控制器中，至此，大功告成。
第2部分- src="/uploads/allimg/220408/212JVT4-1.jpg">我用了2个周长和20%填充所有的零件和PLA材料。不需要支持。零件已经定向好，可以打印了。我的打印机有一个0.4mm的喷嘴，图层高度设置为0.3mm。第3部分- 接收器组装首先，我把电池串联起来，把它们粘在无线电控制器的后面。然后焊接电线从直流插座到大电流升压/降压转换器，插入主适配器。然后我将转换器设置为12.6V，并粘上电位器，这样它就会保持这种状态。现在我将电池连接到3S 平衡充电板，并将buck对流器的输出连接到BMS输入/输出。我把所有东西都粘在箱子上。 第二步是添加所有的小按钮。在每个支撑孔上放置两个按钮，如下所示。同样，一个按钮上在小的支撑孔上。然后，在盖子顶部的每个孔上添加一个小的塑料按钮，然后我们在3D打印外壳的每个顶部支撑柱的位置拧上螺钉固定。现在，用导线连接操纵杆电位器到GND,5V和信号。然后将操纵杆和滑动开关螺丝固定在控制器中间。在顶部添加触发开关和电位器。最后，将Arduino NANO开发板粘在一个角落上。好的，现在，非常重要的一步你要把小的buck转换器设置为3.3V，然后把电位计粘在一起。然后将其连接到NRF24模块。最后，将所有的电线连接到Arduino，如图所示。加上i2c OLED显示屏，把所有东西都粘在盒子里。从箱子的另一部分接上电源，就这样。现在您可以盖好外壳并为Arduino Nano控制板编写程序。好的，对于代码，请确保从下面的链接下载并安装OLED和NRF24库。然后，下载代码，编译并将其上传到Arduino。要了解更多细节，请阅读代码中的注释，以便了解如何调节和优化操纵杆信号读取和电池读取的所有值。#include <SPI.h> #include <nRF24L01.h>
//Downlaod it here: https://www.electronoobs.com/eng_arduino_NRF24.php
#include <RF24.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
//Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_GFX.php #include <Adafruit_SSD1306.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_SSD1306.php
#include <EEPROM.h>
/*A basic 6 channel transmitter using the nRF24L01 module.*/
/* Like, share and subscribe, ELECTRONOOBS */
/* http://www.youtube/c/electronoobs */
/* First we include the libraries. Download it from
my webpage if you donw have the NRF24 library */
//This are the bytes for the EN logo
static const unsigned char PROGMEM my_logo[] =
{/* 0X00,0X01,0X7C,0X00,0X40,0X00, */
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};
#include <SPI.h>
#include <nRF24L01.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_NRF24.php
#include <RF24.h>
#include <Wire.h>
#include <Adafruit_GFX.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_GFX.php
#include <Adafruit_SSD1306.h> //Downlaod it here: https://www.electronoobs.com/eng_arduino_Adafruit_SSD1306.php
#include <EEPROM.h>
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//OLED setup
#define OLED_RESET 8
Adafruit_SSD1306 display(OLED_RESET);
#define NUMFLAKES 5
#define XPOS 0
#define YPOS 1
#define DELTAY 2
#if (SSD1306_LCDHEIGHT != 64)
#error("Height incorrect, please fix this in the Adafruit_SSD1306.h!");
#endif
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
/*Create a unique pipe out. The receiver has to
wear the same unique code*/
const uint64_t pipeOut = 0xE8E8F0F0E1LL; //IMPORTANT: The same as in the receiver!!!
RF24 radio(9, 10); // select CSN pin
// The sizeof this struct should not exceed 32 bytes
// This gives us up to 32 8 bits channals
struct MyData {
byte throttle;
byte yaw;
byte pitch;
byte roll;
byte AUX1;
byte AUX2;
};
MyData data;
//Inputs outputs
int battery_in = A7; //pin for analog in from the battery divider
int buttons_analog_in = A6; //Analog in from all the push buttons
int toggle_1 = 3;
int toggle_2 = 2;
int throttle_in = A0;
int yaw_in = A1;
int pitch_in = A2;
int roll_in = A3;
int mode_in = 4;
int buzzer = 5;
//Variables
float battery_level = 0;
int throttle_fine = 0;
int yaw_fine = 0;
int pitch_fine = 0;
int roll_fine = 0;
int button_read = 0;
int throttle_to_send = 0;
int yaw_to_send = 0;
int pitch_to_send = 0;
int roll_to_send = 0;
bool throttle_inverted = false;
bool yaw_inverted = true;
bool pitch_inverted = true;
bool roll_inverted = false;
bool yaw_decrease = false;
bool throttle_decrease = false;
bool pitch_decrease = false;
bool roll_decrease = false;
bool yaw_increase = false;
bool throttle_increase = false;
bool pitch_increase = false;
bool roll_increase = false;
bool mode = true;
bool mode_button_pressed = false;
bool sound = true;
int counter = 0;
int invert_counter = 0;
bool sound_changed = false;
void resetData()
{
//This are the start values of each channal
// Throttle is 0 in order to stop the motors
//127 is the middle value of the 10ADC.
data.throttle = 127;
data.yaw = 127;
data.pitch = 127;
data.roll = 127;
data.AUX1 = 0;
data.AUX2 = 0;
}
void setup()
{
if( EEPROM.read(1) != 55)
{
EEPROM.write(2, 127);
EEPROM.write(3, 127);
EEPROM.write(4, 127);
EEPROM.write(5, 127);
EEPROM.write(6, 0);
EEPROM.write(7, 1);
EEPROM.write(8, 1);
EEPROM.write(9, 0);
EEPROM.write(1, 55);
}
throttle_fine = EEPROM.read(2);
yaw_fine = EEPROM.read(3);
pitch_fine = EEPROM.read(4);
roll_fine = EEPROM.read(5);
throttle_inverted = EEPROM.read(6);
yaw_inverted = EEPROM.read(7);
pitch_inverted = EEPROM.read(8);
roll_inverted = EEPROM.read(9);
pinMode(buttons_analog_in, INPUT);
pinMode(mode_in, INPUT_PULLUP);
pinMode(buzzer, OUTPUT);
digitalWrite(buzzer,LOW);
display.begin(SSD1306_SWITCHCAPVCC, 0x3C); // initialize with the I2C addr 0x3C (for the 128x32)
delay(100);
display.clearDisplay();
display.setTextSize(1); //Set text size
display.setTextColor(WHITE); //Choose color
display.drawBitmap(0, 0, my_logo, 128, 64, 1);
digitalWrite(buzzer,HIGH);
delay(40);
digitalWrite(buzzer,LOW);
delay(40);
digitalWrite(buzzer,HIGH);
delay(40);
digitalWrite(buzzer,LOW);
display.display();
delay(2000);
//Start everything up
radio.begin();
radio.setAutoAck(false);
radio.setPALevel(RF24_PA_HIGH);
radio.setDataRate(RF24_250KBPS);
radio.openWritingPipe(pipeOut);
resetData();
}
/**************************************************/
int map_normal(int val, int lower, int middle, int upper, bool reverse)
{
val = constrain(val, lower, upper);
if ( val < middle )
val = map(val, lower, middle, 0, 128);
else
val = map(val, middle, upper, 128, 255);
return ( reverse ? 255 - val : val );
}
// Returns a corrected value for a joystick position that takes into account
// the values of the outer extents and the middle of the joystick range.
int map_exponential(int val, bool reverse)
{
val = constrain(val, 0, 1023);
float cube = ((pow((val - 512),3)/520200) + 258.012) / 2;
return ( reverse ? 255 - cube : cube );
}
void loop()
{
//battery read
battery_level = analogRead(battery_in) / 67.331; //////Voltage divider is 10k and 20K so 1/3
//Buttons read
button_read = analogRead(buttons_analog_in);
//Reset buttons
if(button_read > 820)
{
yaw_decrease = false;
throttle_decrease = false;
pitch_decrease = false;
roll_decrease = false;
yaw_increase = false;
throttle_increase = false;
pitch_increase = false;
roll_increase = false;
}
//////////////////////////////////////////////////////////////////////////////////////////
//YAW buttons
if(button_read < 260 && button_read > 200 && !yaw_decrease)
{
yaw_fine = yaw_fine + 1;
yaw_decrease = true;
EEPROM.write(3, yaw_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 120 && button_read > 50 && !yaw_increase)
{
yaw_fine = yaw_fine - 1;
yaw_increase = true;
EEPROM.write(3, yaw_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//////////////////////////////////////////////////////////////////////////////////////////
//THROTTLE buttons
if(button_read < 500 && button_read > 430 && !throttle_decrease)
{
throttle_fine = throttle_fine + 1;
throttle_decrease = true;
EEPROM.write(2, throttle_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 380 && button_read > 320 && !throttle_increase)
{
throttle_fine = throttle_fine - 1;
throttle_increase = true;
EEPROM.write(2, throttle_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//////////////////////////////////////////////////////////////////////////////////////////
//PITCH buttons
if(button_read < 610 && button_read > 550 && !pitch_decrease)
{
pitch_fine = pitch_fine + 1;
pitch_decrease = true;
EEPROM.write(4, pitch_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 690 && button_read > 630 && !pitch_increase)
{
pitch_fine = pitch_fine - 1;
pitch_increase = true;
EEPROM.write(4, pitch_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//////////////////////////////////////////////////////////////////////////////////////////
//ROLL buttons
if(button_read < 820 && button_read > 760 && !roll_decrease)
{
roll_fine = roll_fine + 1;
roll_decrease = true;
EEPROM.write(5, roll_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(button_read < 760 && button_read > 700 && !roll_increase)
{
roll_fine = roll_fine - 1;
roll_increase = true;
EEPROM.write(5, roll_fine);
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
//Mode select button
if(!digitalRead(mode_in) && !mode_button_pressed)
{
mode = !mode;
mode_button_pressed = true;
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
if(!digitalRead(mode_in) && !sound_changed)
{
if(counter > 20)
{
sound = !sound;
counter = 0;
sound_changed = true;
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
}
counter = counter + 1;
}
//Invert channels
//THROTTLE INVERT
if(button_read < 500 && button_read > 430)
{
if(invert_counter > 30)
{
throttle_inverted = !throttle_inverted;
invert_counter = 0;
EEPROM.write(6, throttle_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(13,30); //Select where to print 124 x 64
display.print("Throttle inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
//YAW INVERT
if(button_read < 260 && button_read > 200)
{
if(invert_counter > 30)
{
yaw_inverted = !yaw_inverted;
invert_counter = 0;
EEPROM.write(7, yaw_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(15,30); //Select where to print 124 x 64
display.print(" Yaw inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
//PITCH INVERT
if(button_read < 610 && button_read > 550)
{
if(invert_counter > 30)
{
pitch_inverted = !pitch_inverted;
invert_counter = 0;
EEPROM.write(8, pitch_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(13,30); //Select where to print 124 x 64
display.print(" Pitch inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
//ROLL INVERT
if(button_read < 820 && button_read > 760)
{
if(invert_counter > 30)
{
roll_inverted = !roll_inverted;
invert_counter = 0;
EEPROM.write(9, roll_inverted);
display.clearDisplay(); //Clear the display
display.setCursor(15,30); //Select where to print 124 x 64
display.print(" Roll inverted");
display.display();
if(sound)
{
digitalWrite(buzzer,HIGH);
delay(50);
digitalWrite(buzzer,LOW);
}
delay(1500);
}
invert_counter = invert_counter + 1;
}
if(digitalRead(mode_in) && mode_button_pressed)
{
mode_button_pressed= false;
sound_changed = false;
counter = 0;
invert_counter = 0;
}
//Mode select
if(!mode)
{
throttle_to_send = map_normal(analogRead(throttle_in), 0, 512, 1023, throttle_inverted);
yaw_to_send = map_normal(analogRead(yaw_in), 0, 512, 1023, yaw_inverted);
pitch_to_send = map_normal(analogRead(pitch_in), 0, 512, 1023, pitch_inverted);
roll_to_send = map_normal(analogRead(roll_in), 0, 512, 1023, roll_inverted);
}
if(mode)
{
throttle_to_send = map_exponential(analogRead(throttle_in), throttle_inverted);
yaw_to_send = map_exponential(analogRead(yaw_in), yaw_inverted);
pitch_to_send = map_exponential(analogRead(pitch_in), pitch_inverted);
roll_to_send = map_exponential(analogRead(roll_in), roll_inverted);
}
throttle_to_send = throttle_to_send + throttle_fine - 127;
yaw_to_send = yaw_to_send + yaw_fine - 127;
pitch_to_send = pitch_to_send + pitch_fine - 127;
roll_to_send = roll_to_send + roll_fine - 127;
data.throttle = constrain(throttle_to_send,0,255);
data.yaw = constrain(yaw_to_send,0,255);
data.pitch = constrain(pitch_to_send,0,255);
data.roll = constrain(roll_to_send,0,255);
data.AUX1 = digitalRead(toggle_1);
data.AUX2 = digitalRead(toggle_2);
radio.write(&data, sizeof(MyData));
display.clearDisplay(); //Clear the display
if(sound)
{
display.setCursor(0,0); //Select where to print 124 x 64
display.print("Sound ON");
}
if(!sound)
{
display.setCursor(0,0); //Select where to print 124 x 64
display.print("Sound OFF");
}
display.setCursor(90,0); //Select where to print 124 x 64
display.print(battery_level,1);
display.print("V");
display.setCursor(0,16); //Select where to print 124 x 64
display.print("T: ");
display.print(throttle_to_send);
display.print(" P: ");
display.print(pitch_to_send);
display.setCursor(0,29);
display.print("Y: ");
display.print(yaw_to_send);
display.print(" R: ");
display.print(roll_to_send);
//
display.setCursor(0,42);
display.print("SW1: ");
display.print(digitalRead(toggle_1));
display.print(" SW2: ");
display.print(digitalRead(toggle_2));
if(mode)
{
display.setCursor(0,56);
display.print("Mode: ");
display.print("Exponential");
}
if(!mode)
{
display.setCursor(0,56);
display.print("Mode: ");
display.print("Linear");
}
//
display.display();
}将上面的代码拷贝到Arduino IDE中，编绎正确后，用USB电缆连接计算机和控制器上的USB接口，将编译通过的固件上传到控制器中，至此，大功告成。
麻将游戏的娱乐性十足，是闲暇时间的好消遣。妇女们平常忙完家务和日常琐事就会相约打麻将，一边在牌桌上聊家常和生活趣事，一边谋划打牌。对于她们来说，赌钱事小，重要的是能分享资讯，从繁琐郁闷的生活中获得暂且的娱乐时光。在中国春节期间，亲属家人也会相约打上几圈的麻将棋牌资讯，气氛和乐。
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