我正在尝试基于arduino构建无人机。现在，我正在尝试使用两个nRF24制作自己的发送器和接收器。老实说我没有2个arduino，所以现在我正在使用两个带有外部时钟的atmega328p，但我认为这可能不会影响这个问题。
基本上，此代码应从串行监视器输入两个数字，映射它们并通过两个NRF24发送信息。
现在我正在使用Arduino uno作为发送器，使用atmega328p作为接收器，使用atmega328p作为飞行控制器，它们应该接受PWM信号的输入。问题是飞行控制器根本不响应我发送的信号，但在测试时确实响应，所以我想问题出在两个模块之间。
发射器代码：
byte i = 0; //First value to be sent
byte b = 127; //Second value to be sent
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
const uint64_t pipeOut = 0xE8E8F0F0E1LL;//Pipe address
RF24 radio(8,9); // CE/CSN
struct MyData { // 6 Datas to be sent, we will have just the first two variable as test
byte throttle; //All of the must be between 0 and 255, not specified in the code, but
byte yaw; //assumed by the programmer
byte pitch;
byte roll;
byte AUX1;
byte AUX2;
};
typedef struct MyData my_data;
my_data data;
void resetData()
{
//This are the start values of each channal
// Throttle is 0 in order to stop the motors, 127 the middle
data.throttle = 0;
data.yaw = 127;
data.pitch = 127;
data.roll = 127;
data.AUX1 = 0;
data.AUX2 = 0;
}
void setup() {
Serial.begin(9600);
// Setting up the radio comunication
radio.begin();
radio.openWritingPipe(pipeOut);
radio.setPALevel(RF24_PA_MAX);
radio.setDataRate(RF24_250KBPS);
radio.stopListening();
resetData(); //Resetting the data
}
void loop() {
if(Serial.available()>0){
int a = Serial.parseInt();
i = a; //Taking in input the first value
int c = Serial.parseInt();
b=c; //Taking in input the second value after a space or a char
Serial.print("Throttle = ");
Serial.print(i);
Serial.print(" Yaw = ");
Serial.println(b);
}
data.throttle = i; //Sending i as throttle value
data.yaw = b; //Sending b as yaw value
data.pitch = 127; //Fixed values, no need for the test
data.roll = 127;
data.AUX1 = 0;
data.AUX2 = 0;
radio.write(&data, sizeof(MyData));
}
收件人代码：
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>
int tempo;
int pwm_width_2 = 0; //Define widths of the pwm signals
int pwm_width_3 = 0;
int pwm_width_4 = 0;
int pwm_width_5 = 0;
int pwm_width_6 = 0;
int pwm_width_7 = 0;
Servo PWM2; //Using servo library to generate PWM signals
Servo PWM3;
Servo PWM4;
Servo PWM5;
Servo PWM6;
Servo PWM7;
struct MyData {
byte throttle; //Like in the trasmitter
byte yaw;
byte pitch;
byte roll;
byte AUX1;
byte AUX2;
};
typedef struct MyData my_data;
my_data data;
const uint64_t pipeIn = 0xE8E8F0F0E1LL; //Remember that this code is the same as in the transmitter
RF24 radio(9, 10); // CE/CSN
void resetData()
{
data.throttle = 0;
data.yaw = 127;
data.pitch = 127;
data.roll = 127;
data.AUX1 = 0;
data.AUX2 = 0;
}
/**************************************************/
void setup()
{
PWM2.attach(2); //Set the pins for each PWM signal
PWM3.attach(3);
PWM4.attach(4);
PWM5.attach(5);
PWM6.attach(6);
PWM7.attach(9);
//Configure the NRF24 module
resetData();
radio.begin();
radio.openReadingPipe(1,pipeIn);
radio.setPALevel(RF24_PA_MAX);
radio.setDataRate(RF24_250KBPS);
//we start the radio comunication
radio.startListening();
}
/**************************************************/
unsigned long lastRecvTime = 0;
void recvData()
{
while ( radio.available() ) {
radio.read(&data, sizeof(MyData));
lastRecvTime = millis(); //here we receive the data
}
}
/**************************************************/
void loop()
{
recvData();
unsigned long now = millis();
//Here we check if we've lost signal, if we did we reset the values
if ( now - lastRecvTime > 1000 ) {
// Signal lost?
resetData();
}
pwm_width_2 = map(data.throttle, 0, 255, 1000, 2000); //PWM value on digital pin D2
pwm_width_3 = map(data.yaw, 0, 255, 1000, 2000); //PWM value on digital pin D3
pwm_width_4 = map(data.pitch, 0, 255, 1000, 2000); //PWM value on digital pin D4
pwm_width_5 = map(data.roll, 0, 255, 1000, 2000); //PWM value on digital pin D5
pwm_width_6 = map(data.AUX1, 0, 255, 1000, 2000); //PWM value on digital pin D6
pwm_width_7 = map(data.AUX2, 0, 255, 1000, 2000); //PWM value on digital pin D7
//Now we write the PWM signal using the servo function
PWM2.writeMicroseconds(pwm_width_2);
PWM3.writeMicroseconds(pwm_width_3);
PWM4.writeMicroseconds(pwm_width_4);
PWM5.writeMicroseconds(pwm_width_5);
PWM6.writeMicroseconds(pwm_width_6);
PWM7.writeMicroseconds(pwm_width_7);
}
POST脚本：
这不是我的代码，我是从www.electronoobs.com获得的，并对其进行了调整以适合我的串行监视器通信，但它根本不起作用：（