It's already filmed :
Unfortunately not in the loco, it is too tight.
Code: Select all
/*
Code for locomotive RUSTY
*/
#include "SPI.h"
#include "NRFLite.h"
const static uint8_t RADIO_ID = 10; // receiver identification
const static uint8_t PIN_RADIO_CE = 9; // connexion pin of nrf24l01
const static uint8_t PIN_RADIO_CSN = 10;
NRFLite _radio;
int POT_Value = 0; // received bariable for the potentiometer vaule
int ARU = 0; // emergency stop variable
int in1 = 4; // motor rotation direction
int in2 = 3; // motor rotation direction
int ENA = 5; // pwm motor
int in3 = 6; // entry for the light
int in4 = 7; // entry for the light
int LIGHT_Value = 0; // variable for the light
float analogVolt = 0; // vairable for voltage reading on pin A2 ==> 0.....1023
//packet structure including the received variables
struct RadioPacket {
int POT_Value;
int ARU;
int LIGHT_Value;
};
RadioPacket _radioData; // variable associated to the structure
void setup() {
pinMode(4, OUTPUT); // pin 4 output for in1
pinMode(3, OUTPUT); // pin 3 output for in2
pinMode(5, OUTPUT); // pin 5 output for ENA PWM motor
pinMode(6, OUTPUT); // pin 6 output for in3 lamp
pinMode(7, OUTPUT); // pin 7 output for in4 lamp
pinMode(A2, INPUT); // pin A2 voltage reading
Serial.begin(9600); // serial port for debug
if (!_radio.init(RADIO_ID, PIN_RADIO_CE, PIN_RADIO_CSN)) {
Serial.println("Cannot communicate with radio");
while (1)
;
}
}
void loop() {
while (_radio.hasData()) // awaiting character reading
{
_radio.readData(&_radioData); // reading variable radioData including the structure with 3 variables POT_Value ARU and LIGHT Value
ARU = _radioData.ARU; // writing of the value received into the declared variable
POT_Value = _radioData.POT_Value;
LIGHT_Value = _radioData.LIGHT_Value;
Serial.print("Eclairage : ");
Serial.println(LIGHT_Value);
// **** if battery voltage is under 10.8v then stop of lights and engine to save battery, otherwise continue the programm
// R1=10Kohm, R2=27Kohm ratio 0.270 max voltage of 4 batteries 16.8v*0.270=4.54v max at pin A2
// (4.54x1023)/5=929
// for the max batterie voltage we will read 929 on pin A2
// to limit undervoltage at 2.7v per element : 10.8v mini to read on pin A2
// à 10.8x0.270=2.916v
// (2.916x1023)/5=596 to limit voltage et 2.7v per element the minium read value will be 596
analogVolt = analogRead(A2); // read pin A2 variable analogVolt
Serial.println("Mesure batterie: ");
Serial.print(analogVolt);
if ((ARU == 1) || (analogVolt <= 596)) // if emergency stop OR battery voltage <10.8v
{
digitalWrite(in1, LOW); // breake to stop motor
digitalWrite(in2, LOW);
digitalWrite(in3, LOW); //light off
digitalWrite(in4, LOW);
Serial.println("Etat arret urgence :");
Serial.print(ARU);
Serial.println("Si batterie <10.8v soit <596 alors la loco stop");
Serial.println("Etat batterie =");
Serial.print(analogVolt);
}
// **** if no emergency stop or battery undervoltage ****
else {
Serial.println("Etat arret urgence : OFF");
if (POT_Value < 450) {
int mappedval = map(POT_Value, 450, 0, 80, 255); //mapping of potentiometer value to the output of L298N. If pote value is between 450 and 0 the it correspond to an output from 80 to 255. This is done to apply the power to the motore . I don't map 0 to 0 otherwise the motor will not have enough power to start and ther will be a long period of time when turning potentiometer the loco will not start
Serial.print("Reception Avant : ");
Serial.println(POT_Value); // affichage de la POT_Value du potentiometre
Serial.println(mappedval); // affichage valeur mappé pour trouver a quel valeur moteur démarre
digitalWrite(in1, HIGH); // rotation direction of motor
digitalWrite(in2, LOW);
analogWrite(ENA, mappedval); // sending of the mapped PWM value for the motor speed moteur pin 5
delay(30);
}
else if (POT_Value > 570) {
int mappedval = map(POT_Value, 570, 1024, 80, 255); // same as previously in th e other way
Serial.print("Reception Arrière : ");
Serial.println(POT_Value); // affichage de la POT_Value du potentiometre
Serial.println(mappedval); // affichage valeur mappé pour trouver a quel valeur moteur démarre
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
analogWrite(ENA, mappedval); // commande vitesse moteur pin 5
delay(30);
}
else if (450 > POT_Value < 570) {
Serial.print("Reception Stop : ");
Serial.println(POT_Value); // affichage de la POT_Value du potentiometre
digitalWrite(in1, LOW); // if pot value btw 450 and 570 no motor power to have a centered 0 on the potentiometer
digitalWrite(in2, LOW);
}
//********* LAMP command ************
if (LIGHT_Value == 1) {
digitalWrite(in3, HIGH);
digitalWrite(in4, LOW);
} else if (LIGHT_Value == 0) {
digitalWrite(in3, LOW);
digitalWrite(in4, LOW);
}
}
}
}
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