oled and nrf with teensy working
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@ -13,6 +13,7 @@ platform = teensy
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board = teensy31
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framework = arduino
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upload_protocol = teensy-cli
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monitor_speed = 115200
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@ -21,4 +22,7 @@ build_flags =
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lib_deps =
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https://github.com/maniacbug/RF24
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https://github.com/maniacbug/RF24
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adafruit/Adafruit SSD1306@^2.5.3
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adafruit/Adafruit BusIO@^1.11.3
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https://github.com/adafruit/Adafruit-GFX-Library
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@ -1,6 +1,18 @@
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#include <Arduino.h>
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#include <SPI.h>
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#include <Wire.h>
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#include <Adafruit_GFX.h>
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#include <Adafruit_SSD1306.h>
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//128 x 64 px
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#define SCREEN_WIDTH 128
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#define SCREEN_HEIGHT 64
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#define SCREEN_ADDRESS 0x3C
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#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin)
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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#define DISPLAYUPDATE_INTERVAL 200
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uint8_t error = 0;
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#define IMU_NO_CHANGE 2 //IMU values did not change for too long
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@ -24,12 +36,45 @@ long last_adcupdated=0;
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#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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#define GT_LENGTH_OFFSET 4090 //adc offset value (rolled up value)
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#define GT_LENGTH_MIN 220 //length in mm at which adc values start to change
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#define GT_LENGTH_SCALE -0.73 //(offset-adcvalue)*scale = length[mm] (+length_min)
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//2720 at 1000mm+220mm -> 1370 for 1000mm ->
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#define GT_LENGTH_MAXLENGTH 2500 //maximum length in [mm]. maximum string length is around 2m80
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#define GT_LENGTH_MIN 200 //minimum length for stuff to start happen
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#define GT_LENGTH_1_OFFSET -22.5
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#define GT_LENGTH_1_SCALE 2.5
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#define GT_LENGTH_2_OFFSET 563.6
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#define GT_LENGTH_2_SCALE 0.45
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#define GT_LENGTH_CROSSOVERADC ((GT_LENGTH_2_OFFSET-GT_LENGTH_1_OFFSET)/(GT_LENGTH_1_SCALE-GT_LENGTH_2_SCALE)) //crossover point from adc, where first and second lines cross
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#define GT_LENGTH_CROSSOVER_FEATHER 76.0 //how much adc change in both directions should be smoothed when switching between first and second line
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#define GT_LENGTH_MAXLENGTH 2000 //maximum length in [mm]. maximum string length is around 2m80
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#define GT_LENGTH_ADC_MAXDIFF 127 //maximum adc value difference between A and B poti. Used to detect scratching poti. during length calibration was 57
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int raw_length_maxdiff=0;
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//TODO: implement error for poti maxdiff
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uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
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/* calibration 20220410
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lenght[mm], adc
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0,9
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100,52
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200,86
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300,124
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400,165
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500,212
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600,286
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700,376
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800,520
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900,746
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1000,984
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1100,1198
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1200,1404
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1300,1628
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1400,1853
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1500,2107
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1600,2316
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1700,2538
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1800,2730
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1900,2942
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2000,3150
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*/
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#define GT_VERTICAL_CENTER 2048 //adc value for center position
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#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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@ -73,7 +118,8 @@ struct nrfdata {
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nrfdata lastnrfdata;
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long last_nrfreceive = 0; //last time values were received and checksum ok
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long nrf_delay = 0;
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unsigned long nrf_delay = 0;
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unsigned long last_nrfreceive_delay=0;
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#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
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boolean radiosendOk=false;
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@ -104,36 +150,65 @@ uint8_t controlmode=0;
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#define MODE_GAMETRAK 2
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void updateDisplay(unsigned long loopmillis);
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void setup() {
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Serial.begin(SERIAL_BAUD); //Debug and Program
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esc.init();
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analogReadResolution(12);
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pinMode(PIN_GAMETRAK_LENGTH_A, INPUT);
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pinMode(PIN_GAMETRAK_LENGTH_B, INPUT);
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pinMode(PIN_GAMETRAK_VERTICAL, INPUT);
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pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT);
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pinMode(PIN_GAMETRAK_LENGTH_A, INPUT_PULLUP);
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pinMode(PIN_GAMETRAK_LENGTH_B, INPUT_PULLUP);
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pinMode(PIN_GAMETRAK_VERTICAL, INPUT_PULLUP);
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pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT_PULLUP);
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Wire.begin();
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// SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
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if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
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Serial.println(F("SSD1306 allocation failed"));
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for(;;); // Don't proceed, loop forever
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}
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// Show initial display buffer contents on the screen --
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// the library initializes this with an Adafruit splash screen.
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display.display();
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(10, 0);
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display.println(F("Radio Init"));
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display.display(); // Show initial text
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radio.begin();
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//Serial1.println("set rate");
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Serial.println("RF24 set rate");
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radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
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//radio.setDataRate( RF24_1MBPS );
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//Serial1.println("set channel");
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//Serial.println("set channel");
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radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
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//Serial1.println("set retries and payload");
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//Serial.println("set retries and payload");
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radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
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radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
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//Serial1.println("open pipe");
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//Serial.println("open pipe");
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radio.openWritingPipe(pipes[0]); //write on pipe 0
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radio.openReadingPipe(1, pipes[1]); //read on pipe 1
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//Serial1.println("start listening");
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Serial.println("start listening");
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radio.startListening();
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display.clearDisplay();
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display.setTextSize(2); // Draw 2X-scale text
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(10, 0);
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display.println(F("Started"));
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display.display(); // Show initial text
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}
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@ -145,41 +220,82 @@ void loop() {
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if (millis() - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
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if (loopmillis - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
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gt_length = constrain(( analogRead(PIN_GAMETRAK_LENGTH_A))*GT_LENGTH_SCALE - (GT_LENGTH_SCALE*GT_LENGTH_OFFSET) +GT_LENGTH_MIN, 0,GT_LENGTH_MAXLENGTH);
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int raw_length_a=analogRead(PIN_GAMETRAK_LENGTH_A);
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int raw_length_b=analogRead(PIN_GAMETRAK_LENGTH_B);
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raw_length_maxdiff=max(raw_length_maxdiff,abs(raw_length_a-raw_length_b));
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int raw_length=(raw_length_a+raw_length_b)/2;
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uint16_t gt_length_1 = GT_LENGTH_1_OFFSET+raw_length*GT_LENGTH_1_SCALE;
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uint16_t gt_length_2 = GT_LENGTH_2_OFFSET+raw_length*GT_LENGTH_2_SCALE;
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double crossovermapping=constrain(((raw_length-GT_LENGTH_CROSSOVERADC)/GT_LENGTH_CROSSOVER_FEATHER )/2.0+0.5, 0.0,1.0); //0 for first, 1 for second
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gt_length = constrain( gt_length_1*(1-crossovermapping) + gt_length_2*crossovermapping , 0,GT_LENGTH_MAXLENGTH);
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if (gt_length<=GT_LENGTH_MIN){
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gt_length=0; //if below minimum measurable length set to 0mm
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}
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gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), +GT_VERTICAL_RANGE,-GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
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gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), +GT_HORIZONTAL_RANGE,-GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
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gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), -GT_VERTICAL_RANGE,+GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
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gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), -GT_HORIZONTAL_RANGE,+GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
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last_adcupdated = millis();
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/*
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Serial1.print("gt_length=");
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Serial1.print(gt_length);
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Serial1.print(", gt_vertical=");
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Serial1.print(gt_vertical);
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Serial1.print(", gt_horizontal=");
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Serial1.println(gt_horizontal);*/
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Serial.print("gt_length=");
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Serial.print(gt_length);
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Serial.print(", gt_vertical=");
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Serial.print(gt_vertical);
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Serial.print(", gt_horizontal=");
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Serial.print(gt_horizontal);
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/*
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Serial1.print("PIN_GAMETRAK_LENGTH=");
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Serial1.print(analogRead(PIN_GAMETRAK_LENGTH));
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Serial1.print(", PIN_GAMETRAK_VERTICAL=");
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Serial1.print(analogRead(PIN_GAMETRAK_VERTICAL));
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Serial1.print(", PIN_GAMETRAK_HORIZONTAL=");
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Serial1.println(analogRead(PIN_GAMETRAK_HORIZONTAL));*/
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Serial.print(" pl=");
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Serial.print(raw_length_a);
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Serial.print(", ");
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Serial.print(raw_length_b);
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Serial.print(", pv=");
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Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
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Serial.print(", ph=");
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Serial.print(analogRead(PIN_GAMETRAK_HORIZONTAL));
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Serial.print(" Ldiff=");
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Serial.println(abs(raw_length_a-raw_length_b));
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*/
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/*
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static int _rawlengtharray[40];
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static int _rawlapos=0;
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_rawlengtharray[_rawlapos++]=raw_length;
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_rawlapos%=40;
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int rawlengthfilter=0;
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for (int p=0;p<40;p++) {
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rawlengthfilter+=_rawlengtharray[p];
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}
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rawlengthfilter/=40;
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static int maxldiff=0;
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maxldiff=max(maxldiff,abs(raw_length_a-raw_length_b));
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Serial.print("");
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Serial.print(rawlengthfilter);
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Serial.print(" maxldiff=");
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Serial.println(maxldiff);*/
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}
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//NRF24
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nrf_delay = millis() - last_nrfreceive; //update nrf delay
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nrf_delay = loopmillis - last_nrfreceive; //update nrf delay
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if ( radio.available() )
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{
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//Serial1.println("radio available ...");
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//Serial.println("radio available ...");
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lastpacketOK = false; //initialize with false, if checksum ok gets set to true
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//digitalWrite(PIN_LED, !digitalRead(PIN_LED));
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@ -195,7 +311,9 @@ void loop() {
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uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
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if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
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lastpacketOK = true;
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last_nrfreceive = millis();
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last_nrfreceive_delay=loopmillis-last_nrfreceive; //for display purpose
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last_nrfreceive = loopmillis;
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//parse commands
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motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0
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@ -207,15 +325,15 @@ void loop() {
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if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
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controlmode = MODE_DISARMED;
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#ifdef DEBUG
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Serial1.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
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Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
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#endif
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}
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if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
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if (lastpacketOK) { //if lastnrfdata is valid
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if (millis() - last_controlupdate > CONTROLUPDATEPERIOD) {
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last_controlupdate = millis();
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if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
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last_controlupdate = loopmillis;
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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@ -237,7 +355,7 @@ void loop() {
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#ifdef DEBUG
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if (!lastpacketOK) {
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Serial1.println("Armed but packet not ok");
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Serial.println("Armed but packet not ok");
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}
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#endif
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@ -247,18 +365,18 @@ void loop() {
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if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
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if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
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controlmode=MODE_GAMETRAK; //enable gametrak mode
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Serial1.println("Enable Gametrak");
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Serial.println("Enable Gametrak");
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}
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}else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
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//Gametrak Control Code
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motorenabled=true;
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if (gt_length<=GT_LENGTH_MIN){ //let go
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Serial1.println("gametrak released");
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Serial.println("gametrak released");
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controlmode=MODE_DISARMED;
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motorenabled=false;
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}
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int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
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if (_gt_length_diff>-GT_LENGTH_MINDIFF & _gt_length_diff<GT_LENGTH_MINDIFF){ //minimum difference to drive
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if ((_gt_length_diff>-GT_LENGTH_MINDIFF) && (_gt_length_diff<GT_LENGTH_MINDIFF)){ //minimum difference to drive
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_gt_length_diff=0; //threshold
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}
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@ -311,21 +429,21 @@ void loop() {
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if (!motorenabled) {//motors disabled
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esc.setSpeed(0,0);
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}
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last_send = millis();
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last_send = loopmillis;
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#ifdef DEBUG
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Serial1.print(" out_speedl=");
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Serial1.print(out_speedl);
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Serial1.print(" out_speedr=");
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Serial1.print(out_speedr);
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Serial1.print(" checksum=");
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Serial1.print(out_checksum);
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Serial.print(" out_speedl=");
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Serial.print(out_speedl);
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Serial.print(" out_speedr=");
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Serial.print(out_speedr);
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Serial.print(" checksum=");
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Serial.print(out_checksum);
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Serial1.print(" controlmode=");
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Serial1.print(controlmode);
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Serial.print(" controlmode=");
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Serial.print(controlmode);
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Serial1.println();
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Serial.println();
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#endif
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}
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@ -333,4 +451,38 @@ void loop() {
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esc.update(loopmillis);
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updateDisplay(loopmillis);
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}
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void updateDisplay(unsigned long loopmillis)
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{
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static unsigned long last_updatedisplay=0;
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if (loopmillis-last_updatedisplay>DISPLAYUPDATE_INTERVAL) {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(1, 0);
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display.print(F("MODE="));
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switch(controlmode) {
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case MODE_DISARMED:
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display.println(F("DISARMED"));
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break;
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case MODE_RADIONRF:
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display.println(F("RADIONRF"));
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break;
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case MODE_GAMETRAK:
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display.println(F("GAMETRAK"));
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break;
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default:
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display.println(F("UNDEF"));
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break;
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}
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display.print(F("nrf_delay=")); display.println(last_nrfreceive_delay);
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display.print(F("gt_length=")); display.println(gt_length);
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display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
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display.display(); // Show initial text
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last_updatedisplay=loopmillis;
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}
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}
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