ESP32, nRF24L01 무선통신

//Libraries for NRF24L01+ module.
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
 
//RF24 object with two pins defined with arguments. CE: 4, CSN: 5
RF24 radio(4, 5);
 
//Address of the pipe. 40 bit long, you can choose this freely.
//Remember to use different address in different projects.
long long address = 0x1234ABCDEFLL;

int count = 0;
char stext[32] = "";
int spos = 0;
char rtext[32] = "";
int rpos = 0;

void sendText(char * text, int tlen)
{
  radio.stopListening();
  radio.openWritingPipe(address);
  radio.write(stext, tlen);

  Serial.print("SEND: ");
  Serial.println(text);    

  memset(stext, 0x00, 32);

  radio.openReadingPipe(0, address);
  radio.startListening();
}

void setup() {
  //Start the radio
  Serial.begin(115200);
  radio.begin();

  //Open reading pipe with given address and start listening for incoming data
  radio.openReadingPipe(0, address);
  radio.setPALevel(RF24_PA_MIN); 
  radio.startListening();
}
 
void loop() {
  while(0 < Serial.available()) {
    stext[spos] = Serial.read();
    
    if(stext[spos] == 0x0a) {
      sendText(stext, spos);
      spos = 0;
    }
    else {
      spos += 1;
    }
  }

  if (radio.available()) {
    while (radio.available()) {
      radio.read(rtext, 32);
    }
    Serial.print("RECV: ");
    Serial.println(rtext);
  }
}

//Libraries for NRF24L01+ module.
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
 
//RF24 object with two pins defined with arguments. CE: 4, CSN: 5
RF24 radio(4, 5);
 
//Address of the pipe. 40 bit long, you can choose this freely.
//Remember to use different address in different projects.
long long address = 0x1234ABCDEFLL;

String username = "";
String dataInput;
char dataToSend[32];
char dataReceived[32];

void setup() {
  //Start the radio
  Serial.begin(115200);
  delay(2000);
  Serial.println("Enter username: ");
  radio.begin();
  radio.setRetries(3, 5);
  //Open reading pipe with given address and start listening for incoming data
  radio.openWritingPipe(address);
  radio.openReadingPipe(0, address);
  radio.setPALevel(RF24_PA_MIN); 
}

void loop() {

  //set username
  while(username == "") {
    if(Serial.available()) {
      username = Serial.readStringUntil('\n');
      Serial.print("Welcome ");
      Serial.println(username);
    }
  }

  radio.startListening();

  if(radio.available()) {
    radio.read(&dataReceived, sizeof(dataReceived));
    Serial.println(dataReceived);
  }
  
  if(Serial.available()) {
    radio.stopListening();

    dataInput = "[" + username + "] " + Serial.readStringUntil('\n');
    Serial.println(dataInput);
    dataInput.toCharArray(dataToSend, 32);

    radio.write(&dataToSend, sizeof(dataToSend));
  }
}

//Libraries for NRF24L01+ module.
#include <SPI.h>
#include <RF24.h>
 
//RF24 object with two pins defined with arguments. CE: 4, CSN: 5
RF24 radio(4, 5);
 
//Address of the pipe. 40 bit long, you can choose this freely.
//Remember to use different address in different projects.
long long address = 0x1234ABCDEFLL;

// for temperature, humidity sensor
#include "DHT.h"
#define DHTPIN    13         // data pin
#define DHTTYPE   DHT22      // change to DHT11 if you're using the DHT11
//float temphumi[2];         // AM2301(DHT21) -> DHT21, AM2302(DHT22) -> DHT22
uint16_t temphumi[2];
DHT dht(DHTPIN, DHTTYPE);


void setup() {
  //Start the radio
  Serial.begin(115200);

  radio.begin();
  radio.openWritingPipe(address);
  //RF24_PA_MIN, RF24_PA_LOW, RF24_PA_HIGH and RF24_PA_MAX
  //NRF24L01: -18dBm, -12dBm,-6dBM, and 0dBm
  radio.setPALevel(RF24_PA_LOW);
  radio.stopListening();
    
  dht.begin();
}
 
void loop() {
  //Get temperature from the sensor
  uint16_t t = dht.readTemperature();
  uint16_t h = dht.readHumidity();

  temphumi[0] = t;
  temphumi[1] = h;

  //Send the temperature wirelessly, print error if failed
  if (!radio.write(&temphumi, sizeof(temphumi))) {
    Serial.println(F("Sending temperature failed"));
      
  // Check if any reads failed and exit early (to try again).
  if (isnan(h) || isnan(t)) {
    Serial.println(F("Failed to read from DHT sensor!"));
  return;
  }
  delay(2000);
  } 
}

#include <SPI.h>
#include <RF24.h>
RF24 radio(4, 5);

long long address = 0x1234ABCDEFLL;

// for no interference, two joysticks must be used with each other ADC!  
// one joystick use ADC1: GPIO 36,39,32,33,34,35
// the other must use ADC2: GPIO 4,0,2,15,13,12,14,27,25,26
const int Jstick_x_pin = 25;           // Left_Right GPIO25
const int Jstick_y_pin = 32;           // Forward_Back GPIO32

struct Value{
  uint16_t value_x;
  uint16_t value_y;
};

Value data;


void setup() {
  Serial.begin(115200);
  
  radio.begin();
  radio.openWritingPipe(address);
  radio.setPALevel(RF24_PA_MIN);
  radio.stopListening();
}

void loop() {
  data.value_x = Jstick(Jstick_x_pin);
  delay(10);
  data.value_y = Jstick(Jstick_y_pin);
  delay(10);
  radio.write(&data, sizeof(Value));

  //Serial.print("x: "); Serial.print(data.value_x);
  //Serial.print(", y: "); Serial.println(data.value_y);
}

uint16_t Jstick(int Jstick_Pin){
  return analogRead(Jstick_Pin);
}

// for no interference, two joysticks must be used with each other ADC! 
// one joystick use ADC1: GPIO 36,39,32,33,34,35
// the other must use ADC2: GPIO 4,0,2,15,13,12,14,27,25,26
const int Jstick_x_pin = 25;           // Left_Right GPIO25
const int Jstick_y_pin = 32;           // Forward_Back GPIO32

#include <SPI.h>
#include <RF24.h>
RF24 radio(4 ,5);

long long address = 0x1234ABCDEFLL;

struct Value{
  uint16_t value_x;
  uint16_t value_y;
};

Value data;


void setup() {
  Serial.begin(115200);
  radio.begin();
  radio.openReadingPipe(1, address);
  radio.setPALevel(RF24_PA_LOW);
  radio.startListening();
}

unsigned long lastRecvTime = 0;

void recvData(){
  while( radio.available()){
    radio.read(&data, sizeof(Value));
    lastRecvTime = millis();  
  }
}

void loop() {
    unsigned long now = millis();
  
  if( now - lastRecvTime > 1000){
	recvData();
  }

  Serial.print("x: "); Serial.print(data.value_x);
  Serial.print(", y: "); Serial.println(data.value_y); 
}

#include <SPI.h>
#include <RF24.h>
RF24 radio(4, 5);

long long address = 0x1234ABCDEFLL;

struct Value{
  uint16_t value_x;
  uint16_t value_y;
};

Value data;

//Servo motor library for ESP32
#include <ESP32Servo.h>

Servo servo_x;  // create servo object to control a servo
Servo servo_y;  // 16 servo objects can be created on the ESP32

int angle_x, angle_y;

// Recommended PWM GPIO pins on the ESP32 include 2,4,12-19,21-23,25-27,32-33 
int servo_xPin = 15;
int servo_yPin = 2;

// RecvTime
unsigned long lastRecvTime = 0;

void recvData(){
  while( radio.available()){
    radio.read(&data, sizeof(Value));
    lastRecvTime = millis();  
  }
}

void setup() {
  Serial.begin(115200);
  
  radio.begin();
  radio.openReadingPipe(1, address);
  radio.setPALevel(RF24_PA_LOW);
  radio.startListening();
  
  // Allow allocation of all timers
  ESP32PWM::allocateTimer(0);
  ESP32PWM::allocateTimer(1);
  ESP32PWM::allocateTimer(2);
  ESP32PWM::allocateTimer(3);
  servo_x.setPeriodHertz(50);    // standard 50 hz servo
  servo_y.setPeriodHertz(50);
  servo_x.attach(servo_xPin, 500, 2500); // attaches the servo on pin 25 & 32 to the servo object
  servo_y.attach(servo_yPin, 500, 2500);
  // using default min/max of 1000us and 2000us
  // different servos may require different min/max settings
  // for an accurate 0 to 180 sweep
}

void loop() {
  recvData();
  unsigned long now = millis();
  
  if( now - lastRecvTime > 1000){
    //ResetData();
  }
  
  rotate_xy();
}

void rotate_xy() {
  Serial.print("x: "); Serial.print(data.value_x);
  Serial.print(", y: "); Serial.println(data.value_y);
  angle_x = map(data.value_x, 0, 4095, 0, 180);
  angle_y = map(data.value_y, 0, 4095, 0, 180);
  servo_x.write(angle_x);
  servo_y.write(angle_y);  
  delay(10); 
}

#include <SPI.h>
#include <RF24.h>
RF24 radio(4 ,5);

long long address = 0x1234ABCDEFLL;

struct Value{
  uint16_t value_x;
  uint16_t value_y;
};

Value data;

//Servo motor library for ESP32
#include <ESP32Servo.h>

Servo servo_x;  // create servo object to control a servo
Servo servo_y;  // 16 servo objects can be created on the ESP32

int angle_x = 90;
int angle_y = 90;
int i = 0;
int center_x = 0;
int center_y = 0;
int ref_xl, ref_xr, ref_ya, ref_yb;    // Servo rotation reference value 

// for no interference, each joysticks must be used with other ADC! (* not recommended)
// one joystick use ADC1: GPIO 36,39,32,33,34,35
// the other must use ADC2: GPIO 4,0*,2,15,13,12,14,27,25,26
int servo_xPin = 15;
int servo_yPin = 2;

// RecvTime
unsigned long lastRecvTime = 0;

void centerData(){
  while(i < 100) {
    if(radio.available()){
      radio.read(&data, sizeof(Value));
      center_x = center_x + data.value_x;
      center_y = center_y + data.value_y;
      i++;
    }
  }
  center_x = center_x / 100;         // x축 조이스틱 센터값
  center_y = center_y / 100;         // y축 조이스틱 센터값

  ref_xl = center_x / 2;             // 좌회전 동작 기준값
  ref_xr = (4095 + center_x) / 2;    // 우회전 동작 기준값
  ref_ya = (4095 + center_y) / 2;    // accelator 동작 기준값
  ref_yb = center_y / 2;             // brake 동작 기준값
}

void recvData(){
  while(radio.available()){
    radio.read(&data, sizeof(Value));
    lastRecvTime = millis();  
  }
}

void setup() {
  Serial.begin(115200);
  
  radio.begin();
  radio.openReadingPipe(1, address);
  radio.setPALevel(RF24_PA_LOW);
  radio.startListening();
  
  // Allow allocation of all timers
  ESP32PWM::allocateTimer(0);
  ESP32PWM::allocateTimer(1);
  ESP32PWM::allocateTimer(2);
  ESP32PWM::allocateTimer(3);
  servo_x.setPeriodHertz(50);    // standard 50 hz servo
  servo_y.setPeriodHertz(50);
  servo_x.attach(servo_xPin, 500, 2500); // attaches the servo on pin 25 & 32 to the servo object
  servo_y.attach(servo_yPin, 500, 2500);
  // using default min/max of 1000us and 2000us
  // different servos may require different min/max settings
  // for an accurate 0 to 180 sweep

  // center value
  centerData();
}

void loop() {
  unsigned long now = millis();
  
  if( now - lastRecvTime > 5){    // 5ms 마다 서보출력
    recvData();
    rotate_xy();
  }
}

void rotate_xy() {
  //Serial.print("x: "); Serial.print(data.value_x);
  //Serial.print(", y: "); Serial.println(data.value_y);

  //x축 서보 구동 조건 설정
  if(data.value_x < ref_xl) {
    if(angle_x > 0) {
      angle_x--;
    }
    else {
      angle_x = 0;
    }
  }
  else if(data.value_x > ref_xr) {
    if(angle_x < 180) {
      angle_x++;
    }
    else {
      angle_x = 180;
    }
  }
  else {
    if(angle_x < 90) {
      angle_x++;
    }
    else if(angle_x > 90) {
      angle_x--;
    }
    else {
      angle_x = 90;
    }
  }

 //y축 서보 구동 조건 설정
 if(data.value_y < ref_yb) {
    if(angle_y > 0) {
      angle_y--;
    }
    else {
      angle_y = 0;
    }
  }
  else if(data.value_y > ref_ya) {
    if(angle_y < 180) {
      angle_y++;
    }
    else {
      angle_y = 180;
    }
  }
  else {
    if(angle_y < 90) {
      angle_y++;
    }
    else if(angle_y > 90) {
      angle_y--;
    }
    else {
      angle_y = 90;
    }
  }
  
  servo_x.write(angle_x);
  servo_y.write(angle_y);
  delay(5);                    // delay를 더 줄이면 서보 모터 기어에 무리가 감
}