code

-// Define pins for each RC channel

-int aileronPin = 2; // Channel 1

-

-const int ENA = 5; // PWM for speed for Motor 1

-const int ENB = 4; // PWM for speed for Motor 2

-

-const int IN1 = 0; // Direction for Motor 1 (IN2_Motor1 is inverted in hardware)

-const int IN2 = 2; // Direction pin 1 for Motor 2

-

-long aileronControl;

-

-long readAileronControlSignal() {

- unsigned long rawPWM = pulseIn(aileronPin, HIGH, 25000);

- if (rawPWM == 0) { // Timeout or no signal

- return 50; // Mid-point for 0-100 scale (1500us equivalent)

- }

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

-

- pinMode(ENA, OUTPUT);

- pinMode(ENB, OUTPUT);

- pinMode(IN1, OUTPUT);

- pinMode(IN2, OUTPUT);

-

- // Initialize motors to off

- digitalWrite(IN1, LOW);

- digitalWrite(IN2, LOW);

- analogWrite(ENA, 0);

- analogWrite(ENB, 0);

-

- Serial.begin(9600);

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal();

-

- // Print the mapped control signal values to the Serial Monitor

- Serial.print("Aileron: ");

- Serial.print(aileronControl);

- Serial.println(); // Newline for better readability

-

- if (aileronControl > 70) {

- // Forward

- digitalWrite(IN1, HIGH); // Motor 1 forward

- digitalWrite(IN2, HIGH); // Motor 2 forward

-

- // Map aileronControl (61-100) to PWM speed (e.g., 100-255)

- int motorSpeed = map(aileronControl, 61, 100, 100, 255);

- analogWrite(ENA, motorSpeed);

- analogWrite(ENB, motorSpeed);

- } else if (aileronControl < 30) {

- // Backward

- digitalWrite(IN1, LOW); // Motor 1 backward

- digitalWrite(IN2, LOW); // Motor 2 backward

-

- // Map aileronControl (0-39) to PWM speed (e.g., 255-100, reversing the range for backward)

- int motorSpeed = map(aileronControl, 0, 39, 255, 100);

- analogWrite(ENA, motorSpeed);

- analogWrite(ENB, motorSpeed);

- } else {

- // Stop motors (aileronControl is between 40 and 60 inclusive)

- digitalWrite(IN1, LOW);

- digitalWrite(IN2, LOW);

- analogWrite(ENA, 0);

- analogWrite(ENB, 0);

- }

-

- delay(100); // Limit output rate

-}

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle)

-int elevatorPin = 12; // Channel 2 (Steering)

-

-const int ENA = 5; // PWM for speed for Motor 1

-const int ENB = 4; // PWM for speed for Motor 2

-

-const int IN1 = 0; // Direction for Motor 1

-const int IN2 = 2; // Direction pin 1 for Motor 2

-

-long aileronControl; // Mapped value from aileron channel (0-100)

-long elevatorControl; // Mapped value from elevator channel (0-100)

-

-// Reads the PWM signal from the aileron channel and maps it to 0-100

-long readAileronControlSignal() {

- unsigned long rawPWM = pulseIn(aileronPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- // Valid RC pulses are typically 1000-2000us. Values outside ~900-2100us are treated as invalid.

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-// Reads the PWM signal from the elevator channel and maps it to 0-100

-long readElevatorControlSignal() {

- unsigned long rawPWM = pulseIn(elevatorPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- // Valid RC pulses are typically 1000-2000us. Values outside ~900-2100us are treated as invalid.

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

- pinMode(elevatorPin, INPUT); // Initialize elevator pin

-

- pinMode(ENA, OUTPUT);

- pinMode(ENB, OUTPUT);

- pinMode(IN1, OUTPUT);

- pinMode(IN2, OUTPUT);

-

- // Initialize motors to off

- digitalWrite(IN1, LOW);

- digitalWrite(IN2, LOW);

- analogWrite(ENA, 0);

- analogWrite(ENB, 0);

-

- Serial.begin(9600);

-}

-

-// Helper function to control a single motor

-// pwmVal: -255 (full backward) to 255 (full forward)

-void setMotorOutput(int dirPin, int speedPin, int pwmVal) {

- if (pwmVal > 0) { // Forward

- digitalWrite(dirPin, HIGH);

- analogWrite(speedPin, pwmVal);

- } else if (pwmVal < 0) { // Backward

- digitalWrite(dirPin, LOW);

- analogWrite(speedPin, -pwmVal); // Speed is positive

- } else { // Stop

- digitalWrite(dirPin, LOW); // Or HIGH, doesn't matter much if speed is 0

- analogWrite(speedPin, 0);

- }

-}

-

-// Helper function to map RC control input (0-100) to an output range (e.g., -255 to 255)

-// with a deadband around the center (e.g., 50).

-long mapWithDeadband(long rcValue, int rcMin, int rcMax, int rcCenter, int deadbandRadius, int outMin, int outMax) {

- long mappedValue = 0;

- int deadbandLower = rcCenter - deadbandRadius;

- int deadbandUpper = rcCenter + deadbandRadius;

-

- if (rcValue < deadbandLower) {

- // Map the range [rcMin, deadbandLower - 1] to [outMin, -1]

- // Ensure deadbandLower - 1 is not less than rcMin

- if (deadbandLower -1 < rcMin) {

- mappedValue = outMin;

- } else {

- mappedValue = map(rcValue, rcMin, deadbandLower - 1, outMin, -1);

- }

- } else if (rcValue > deadbandUpper) {

- // Map the range [deadbandUpper + 1, rcMax] to [1, outMax]

- // Ensure deadbandUpper + 1 is not greater than rcMax

- if (deadbandUpper + 1 > rcMax) {

- mappedValue = outMax;

- } else {

- mappedValue = map(rcValue, deadbandUpper + 1, rcMax, 1, outMax);

- }

- } else {

- // Inside deadband

- mappedValue = 0;

- }

- return constrain(mappedValue, outMin, outMax);

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal(); // Throttle (0-100)

- elevatorControl = readElevatorControlSignal(); // Steering (0-100)

-

- // Print the mapped control signal values to the Serial Monitor

- Serial.print("Aileron (Throttle): ");

- Serial.print(aileronControl);

- Serial.print(" Elevator (Steering): ");

- Serial.print(elevatorControl);

- Serial.println();

-

- // Define deadband radius (e.g., +/- 5 around center of 50 for a 0-100 input)

- // This means input values from 45 to 55 (inclusive if center is 50 and radius is 5) will be treated as 0.

- int deadbandRadius = 10;

- float steeringFactor = 3; // Adjust this value to change steering sensitivity

- float throttleFactor = 3; // Adjust this value to change throttle sensitivity (e.g., 1.2 for 20% stronger throttle)

-

- // Map control values with deadband

- long rawThrottleValue = mapWithDeadband(aileronControl, 0, 100, 50, deadbandRadius, -255, 255);

- long rawSteeringValue = mapWithDeadband(elevatorControl, 0, 100, 50, deadbandRadius, -255, 255);

-

- // Apply sensitivity factors

- long throttleValue = rawThrottleValue * throttleFactor;

- long adjustedSteeringValue = rawSteeringValue * steeringFactor;

-

- // Mix throttle and steering for differential drive

- long motor1Pwm = throttleValue + adjustedSteeringValue;

- long motor2Pwm = throttleValue - adjustedSteeringValue;

-

- // Constrain PWM values to the valid range [-255, 255]

- motor1Pwm = constrain(motor1Pwm, -255, 255);

- motor2Pwm = constrain(motor2Pwm, -255, 255);

-

- // Set motor speeds and directions

- setMotorOutput(IN1, ENA, motor1Pwm); // Motor 1

- setMotorOutput(IN2, ENB, motor2Pwm); // Motor 2

-

- delay(20); // Shorter delay for better responsiveness

-}

-// RC signal input pins

-#define THROTTLE_PIN 2 // Channel 1 (forward/back)

-#define STEERING_PIN 3 // Channel 2 (left/right)

-

-// Motor control pins (L298N)

-#define LEFT_ENA 9

-#define LEFT_IN1 4

-#define LEFT_IN2 5

-

-#define RIGHT_ENB 10

-#define RIGHT_IN3 6

-#define RIGHT_IN4 7

-

-int throttle, steering;

-

-void setup() {

- pinMode(THROTTLE_PIN, INPUT);

- pinMode(STEERING_PIN, INPUT);

-

- pinMode(LEFT_IN1, OUTPUT);

- pinMode(LEFT_IN2, OUTPUT);

- pinMode(LEFT_ENA, OUTPUT);

-

- pinMode(RIGHT_IN3, OUTPUT);

- pinMode(RIGHT_IN4, OUTPUT);

- pinMode(RIGHT_ENB, OUTPUT);

-

- Serial.begin(9600);

-}

-

-void loop() {

- // Read PWM input

- throttle = pulseIn(THROTTLE_PIN, HIGH, 25000);

- steering = pulseIn(STEERING_PIN, HIGH, 25000);

-

- // Center = 1500, range = 1000–2000

- int throttleVal = map(throttle, 1000, 2000, -255, 255);

- int steeringVal = map(steering, 1000, 2000, -100, 100); // less aggressive

-

- // Motor mixing (differential drive)

- int leftSpeed = constrain(throttleVal + steeringVal, -255, 255);

- int rightSpeed = constrain(throttleVal - steeringVal, -255, 255);

-

- setMotor(LEFT_IN1, LEFT_IN2, LEFT_ENA, leftSpeed);

- setMotor(RIGHT_IN3, RIGHT_IN4, RIGHT_ENB, rightSpeed);

-

- // Debug

- Serial.print("Throttle: "); Serial.print(throttleVal);

- Serial.print(" Steering: "); Serial.print(steeringVal);

- Serial.print(" L: "); Serial.print(leftSpeed);

- Serial.print(" R: "); Serial.println(rightSpeed);

-

- delay(20);

-}

-

-void setMotor(int in1, int in2, int ena, int speed) {

- if (speed > 0) {

- digitalWrite(in1, HIGH);

- digitalWrite(in2, LOW);

- } else if (speed < 0) {

- digitalWrite(in1, LOW);

- digitalWrite(in2, HIGH);

- } else {

- digitalWrite(in1, LOW);

- digitalWrite(in2, LOW);

- }

- analogWrite(ena, abs(speed));

-}

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle)

-int elevatorPin = 12; // Channel 2 (Steering)

-

-const int ENA = 5; // PWM for speed for Motor 1

-const int ENB = 4; // PWM for speed for Motor 2

-

-const int IN1 = 0; // Direction for Motor 1

-const int IN2 = 2; // Direction pin 1 for Motor 2

-

-long aileronControl; // Mapped value from aileron channel (0-100)

-long elevatorControl; // Mapped value from elevator channel (0-100)

-

-// Reads the PWM signal from the aileron channel and maps it to 0-100

-long readAileronControlSignal() {

- unsigned long rawPWM = pulseIn(aileronPin, HIGH, 25000);

- if (rawPWM == 0) { // Timeout or no signal

- return 50; // Mid-point for 0-100 scale (1500us equivalent)

- }

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-// Reads the PWM signal from the elevator channel and maps it to 0-100

-long readElevatorControlSignal() {

- unsigned long rawPWM = pulseIn(elevatorPin, HIGH, 25000);

- if (rawPWM == 0) { // Timeout or no signal

- return 50; // Mid-point for 0-100 scale (1500us equivalent)

- }

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

- pinMode(elevatorPin, INPUT); // Initialize elevator pin

-

- pinMode(ENA, OUTPUT);

- pinMode(ENB, OUTPUT);

- pinMode(IN1, OUTPUT);

- pinMode(IN2, OUTPUT);

-

- // Initialize motors to off

- digitalWrite(IN1, LOW);

- digitalWrite(IN2, LOW);

- analogWrite(ENA, 0);

- analogWrite(ENB, 0);

-

- Serial.begin(9600);

-}

-

-// Helper function to control a single motor

-// pwmVal: -255 (full backward) to 255 (full forward)

-void setMotorOutput(int dirPin, int speedPin, int pwmVal) {

- if (pwmVal > 0) { // Forward

- digitalWrite(dirPin, HIGH);

- analogWrite(speedPin, pwmVal);

- } else if (pwmVal < 0) { // Backward

- digitalWrite(dirPin, LOW);

- analogWrite(speedPin, -pwmVal); // Speed is positive

- } else { // Stop

- digitalWrite(dirPin, LOW); // Or HIGH, doesn't matter much if speed is 0

- analogWrite(speedPin, 0);

- }

-}

-

-// Helper function to map RC control input (0-100) to an output range (e.g., -255 to 255)

-// with a deadband around the center (e.g., 50).

-long mapWithDeadband(long rcValue, int rcMin, int rcMax, int rcCenter, int deadbandRadius, int outMin, int outMax) {

- long mappedValue = 0;

- int deadbandLower = rcCenter - deadbandRadius;

- int deadbandUpper = rcCenter + deadbandRadius;

-

- if (rcValue < deadbandLower) {

- // Map the range [rcMin, deadbandLower - 1] to [outMin, -1]

- // Ensure deadbandLower - 1 is not less than rcMin

- if (deadbandLower -1 < rcMin) {

- mappedValue = outMin;

- } else {

- mappedValue = map(rcValue, rcMin, deadbandLower - 1, outMin, -1);

- }

- } else if (rcValue > deadbandUpper) {

- // Map the range [deadbandUpper + 1, rcMax] to [1, outMax]

- // Ensure deadbandUpper + 1 is not greater than rcMax

- if (deadbandUpper + 1 > rcMax) {

- mappedValue = outMax;

- } else {

- mappedValue = map(rcValue, deadbandUpper + 1, rcMax, 1, outMax);

- }

- } else {

- // Inside deadband

- mappedValue = 0;

- }

- return constrain(mappedValue, outMin, outMax);

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal(); // Throttle (0-100)

- elevatorControl = readElevatorControlSignal(); // Steering (0-100)

-

- // Print the mapped control signal values to the Serial Monitor

- Serial.print("Aileron (Throttle): ");

- Serial.print(aileronControl);

- Serial.print(" Elevator (Steering): ");

- Serial.print(elevatorControl);

- Serial.println();

-

- // Define deadband radius (e.g., +/- 5 around center of 50 for a 0-100 input)

- // This means input values from 45 to 55 (inclusive if center is 50 and radius is 5) will be treated as 0.

- int deadbandRadius = 5;

- float steeringFactor = 1.5; // Adjust this value to change steering sensitivity

- float throttleFactor = 1.3; // Adjust this value to change throttle sensitivity (e.g., 1.2 for 20% stronger throttle)

-

- // Map control values with deadband

- long rawThrottleValue = mapWithDeadband(aileronControl, 0, 100, 50, deadbandRadius, -255, 255);

- long rawSteeringValue = mapWithDeadband(elevatorControl, 0, 100, 50, deadbandRadius, -255, 255);

-

- // Apply sensitivity factors

- long throttleValue = rawThrottleValue * throttleFactor;

- long adjustedSteeringValue = rawSteeringValue * steeringFactor;

-

- // Mix throttle and steering for differential drive

- long motor1Pwm = throttleValue + adjustedSteeringValue;

- long motor2Pwm = throttleValue - adjustedSteeringValue;

-

- // Constrain PWM values to the valid range [-255, 255]

- motor1Pwm = constrain(motor1Pwm, -255, 255);

- motor2Pwm = constrain(motor2Pwm, -255, 255);

-

- // Set motor speeds and directions

- setMotorOutput(IN1, ENA, motor1Pwm); // Motor 1

- setMotorOutput(IN2, ENB, motor2Pwm); // Motor 2

-

- delay(20); // Shorter delay for better responsiveness

-}

-

-# RC-code-dat

-

-

-basic code == [[basic-code-1.ino]], or [[ultrasonic car-1602.pde]]

-

-

-## working for

-

-- [[SDR1064-dat]] - [[nodemcu-dat]]

-

-## code

-

-- [[PWM-1ch.ino]] - [[PWM-2ch.ino]] - [[PWM-2ch-v2.ino]]

-

-- [[rover-1.ino]] - [[rover-2.ino]]

-

-- [[DRV8871-dat]]

-

-

-## ref

-

-- [[PWM-dat]]

-

-- [[RC-dat]]

-

-

-*******************************************************************************

-遥控超声波测距智能车程序（ARDUINO）

-#include <IRremote.h>

-#include <Servo.h>

-#include <Wire.h>

-#include <LiquidCrystal_I2C.h>

-//***********************定義馬達腳位*************************

-int MotorRight1=6;

-int MotorRight2=9;

-int MotorLeft1=10;

-int MotorLeft2=11;

-

-int counter=0;

-const int irReceiverPin = 3; //紅外線接收器 OUTPUT 訊號接在 pin 3

-//***********************設定所偵測到的 IRcode*************************

-long IRfront= 0x00FF629D; //前進碼

-long IRback=0x00FFA857; //後退

-long IRturnright=0x00FF22DD; //右轉

-long IRturnleft= 0x00FFC23D; //左轉

-long IRstop=0x00FF02FD; //停止

-long IRAutorun=0x00FF6897; //超音波自走模式

-long IRturnsmallleft= 0x00FFB04F;

-IRrecv irrecv(irReceiverPin); // 定義 IRrecv 物件來接收紅外線訊號

-decode_results results;

-//*************************定義超音波腳位******************************

-int inputPin =A0 ; // 定義超音波信號接收腳位 rx

-int outputPin =A1; // 定義超音波信號發射腳位'tx

-int Fspeedd = 0; // 前方距離

-int Rspeedd = 0; // 右方距離

-int Lspeedd = 0; // 左方距離

-int directionn = 0; // 前=8 後=2 左=4 右=6

-Servo myservo; // 設 myservo

-int delay_time = 250; // 伺服馬達轉向後的穩定時間

-int Fgo = 8; // 前進

-int Rgo = 6; // 右轉

-int Lgo = 4; // 左轉

-int Bgo = 2; // 倒車

-//********************************************************************(SETUP)

-LiquidCrystal_I2C lcd(0x27,16,2); // set the LCD address to 0x27 for a 16 chars and 2 line

-display

-void setup()

-{

- Serial.begin(9600);

- pinMode(MotorRight1, OUTPUT); // 腳位 8 (PWM)

- pinMode(MotorRight2, OUTPUT); // 腳位 9 (PWM)

- pinMode(MotorLeft1, OUTPUT); // 腳位 10 (PWM)

- pinMode(MotorLeft2, OUTPUT); // 腳位 11 (PWM)

- irrecv.enableIRIn(); // 啟動紅外線解碼

- digitalWrite(3,HIGH);

- pinMode(inputPin, INPUT); // 定義超音波輸入腳位

- pinMode(outputPin, OUTPUT); // 定義超音波輸出腳位

- myservo.attach(5); // 定義伺服馬達輸出第 5 腳位(PWM)

- lcd.init(); // initialize the lcd

- lcd.init();

- // Print a message to the LCD.

-

- lcd.backlight();

- }

-//******************************************************************(Void)

-void advance(int a) // 前進

-{

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,HIGH);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,HIGH);

- delay(a * 100);

-}

-void right(int b) //右轉(單輪)

-{

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,HIGH);

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- delay(b * 100);

-}

-void left(int c) //左轉(單輪)

-{

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,HIGH);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

- delay(c * 100);

-}

-void turnR(int d) //右轉(雙輪)

-{

- digitalWrite(MotorRight1,HIGH);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,HIGH);

- delay(d * 100);

-}

-void turnL(int e) //左轉(雙輪)

-{

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,HIGH);

- digitalWrite(MotorLeft1,HIGH);

- digitalWrite(MotorLeft2,LOW);

-

- delay(e * 100);

-}

-void stopp(int f) //停止

-{

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

- delay(f * 100);

-}

-void back(int g) //後退

-{

- digitalWrite(MotorRight1,HIGH);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,HIGH);

- digitalWrite(MotorLeft2,LOW);;

- delay(g * 100);

-}

-void detection() //測量 3 個角度(前.左.右)

-{

- int delay_time = 250; // 伺服馬達轉向後的穩定時間

- ask_pin_F(); // 讀取前方距離

- if(Fspeedd < 10) // 假如前方距離小於 10 公分

- {

- stopp(1); // 清除輸出資料

- back(2); // 後退 0.2 秒

-

- }

- if(Fspeedd < 25) // 假如前方距離小於 25 公分

- {

- stopp(1); // 清除輸出資料

- ask_pin_L(); // 讀取左方距離

- delay(delay_time); // 等待伺服馬達穩定

- ask_pin_R(); // 讀取右方距離

- delay(delay_time); // 等待伺服馬達穩定

- if(Lspeedd > Rspeedd) //假如 左邊距離大於右邊距離

- {

- directionn = Lgo; //向左走

- }

- if(Lspeedd <= Rspeedd) //假如 左邊距離小於或等於右邊距離

-

- {

- directionn = Rgo; //向右走

- }

- if (Lspeedd < 15 && Rspeedd < 15) //假如 左邊距離和右邊距離皆小於 10 公分

- {

- directionn = Bgo; //向後走

- }

- }

- else //加如前方大於 25 公分

- {

- directionn = Fgo; //向前走

- }

-}

-//*****************************************************************************

-****

-void ask_pin_F() // 量出前方距離

-{

-myservo.write(90);

-digitalWrite(outputPin, LOW); // 讓超聲波發射低電壓 2μs

-delayMicroseconds(2);

-digitalWrite(outputPin, HIGH); // 讓超聲波發射高電壓 10μs，這裡至少是 10μs

-delayMicroseconds(10);

-digitalWrite(outputPin, LOW); // 維持超聲波發射低電壓

-float Fdistance = pulseIn(inputPin, HIGH); // 讀差相差時間

-Fdistance= Fdistance/5.8/10; // 將時間轉為距離距离（單位：公分）

-Fspeedd = Fdistance; // 將距離 讀入 Fspeedd(前速)

-}

-//*****************************************************************************

-***

-void ask_pin_L() // 量出左邊距離

-{

-myservo.write(177);

-delay(delay_time);

-digitalWrite(outputPin, LOW); // 讓超聲波發射低電壓 2μs

-delayMicroseconds(2);

-digitalWrite(outputPin, HIGH); // 讓超聲波發射高電壓 10μs，這裡至少是 10μs

-delayMicroseconds(10);

-digitalWrite(outputPin, LOW); // 維持超聲波發射低電壓

-float Ldistance = pulseIn(inputPin, HIGH); // 讀差相差時間

-Ldistance= Ldistance/5.8/10; // 將時間轉為距離距离（單位：公分）

-Lspeedd = Ldistance; // 將距離 讀入 Lspeedd(左速)

-

-}

-//*****************************************************************************

-*

-void ask_pin_R() // 量出右邊距離

-{

-myservo.write(5);

-delay(delay_time);

-digitalWrite(outputPin, LOW); // 讓超聲波發射低電壓 2μs

-delayMicroseconds(2);

-digitalWrite(outputPin, HIGH); // 讓超聲波發射高電壓 10μs，這裡至少是 10μs

-delayMicroseconds(10);

-digitalWrite(outputPin, LOW); // 維持超聲波發射低電壓

-float Rdistance = pulseIn(inputPin, HIGH); // 讀差相差時間

-Rdistance= Rdistance/5.8/10; // 將時間轉為距離距离（單位：公分）

-Rspeedd = Rdistance; // 將距離 讀入 Rspeedd(右速)

-}

-//*****************************************************************************

-*(LOOP)

-void loop()

-{

-

-//***************************************************************************正

-常遙控模式

- if (irrecv.decode(&results))

- { // 解碼成功，收到一組紅外線訊號

-/***********************************************************************/

- if (results.value == IRfront)//前進

- {

-

- lcd.setCursor(0,0);

- lcd.print(" IR mode");

- lcd.setCursor(0,1);

- lcd.print(" advance ");

- advance(20);//前進

- }

-/***********************************************************************/

- if (results.value == IRback)//後退

- {

-

- lcd.setCursor(0,0);

- lcd.print(" IR mode");

- lcd.setCursor(0,1);

- lcd.print(" back ");

-

- back(20);//後退

- }

-/***********************************************************************/

- if (results.value == IRturnright)//右轉

- {

-

- lcd.setCursor(0,0);

- lcd.print(" IR mode");

- lcd.setCursor(0,1);

- lcd.print(" right ");

- right(10); // 右轉

-

- }

-/***********************************************************************/

- if (results.value == IRturnleft)//左轉

- {

-

- lcd.setCursor(0,0);

- lcd.print(" IR mode");

- lcd.setCursor(0,1);

- lcd.print(" left ");

- left(10); // 左轉);

- }

-/***********************************************************************/

- if (results.value == IRstop)//停止

- {

- lcd.setCursor(0,0);

- lcd.print(" IR mode");

- lcd.setCursor(0,1);

- lcd.print(" stop ");

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

-

-

- }

-//***********************************************************************超音波

-自走模式

- if (results.value ==IRAutorun )

- {

- while(IRAutorun)

- {

-

- myservo.write(90); //讓伺服馬達回歸 預備位置 準備下一次的測量

- detection(); //測量角度 並且判斷要往哪一方向移動

- if(directionn == 8) //假如 directionn(方向) = 8(前進)

- {

- if (irrecv.decode(&results))

- {

- irrecv.resume();

- Serial.println(results.value,HEX);

- if(results.value ==IRstop)

- {

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

- break;

- }

- }

- results.value=0;

-

-

- lcd.setCursor(0,0);

- lcd.print(" aoto mode");

- lcd.setCursor(0,1);

- lcd.print(" Advance ");

- advance(1); // 正常前進

- }

- if(directionn == 2) //假如 directionn(方向) = 2(倒車)

- {

- if (irrecv.decode(&results))

- {

- irrecv.resume();

- Serial.println(results.value,HEX);

- if(results.value ==IRstop)

- {

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

- break;

- }

- }

- results.value=0;

-

- lcd.setCursor(0,0);

- lcd.print(" aoto mode");

- lcd.setCursor(0,1);

- lcd.print(" Reverse ");

- back(8); // 倒退(車)

- turnL(3); //些微向左方移動(防止卡在死巷裡)

- }

- if(directionn == 6) //假如 directionn(方向) = 6(右轉)

- {

- if (irrecv.decode(&results))

- {

- irrecv.resume();

- Serial.println(results.value,HEX);

- if(results.value ==IRstop)

- {

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

- break;

- }

- }

- results.value=0;

-

-

- lcd.setCursor(0,0);

- lcd.print(" aoto mode");

- lcd.setCursor(0,1);

- lcd.print(" Right ");

- back(1);

- turnR(3); // 右轉

- }

- if(directionn == 4) //假如 directionn(方向) = 4(左轉)

- {

- if (irrecv.decode(&results))

- {

- irrecv.resume();

- Serial.println(results.value,HEX);

- if(results.value ==IRstop)

- {

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

-

- break;

- }

- }

- results.value=0;

-

- lcd.setCursor(0,0);

- lcd.print(" aoto mode");

- lcd.setCursor(0,1);

- lcd.print(" Left ");

- back(1);

- turnL(3); // 左轉

-

- }

-

- if (irrecv.decode(&results))

- {

- irrecv.resume();

- Serial.println(results.value,HEX);

- if(results.value ==IRstop)

- {

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

- break;

- }

- }

- }

- results.value=0;

- }

-/***********************************************************************/

- else

- {

- digitalWrite(MotorRight1,LOW);

- digitalWrite(MotorRight2,LOW);

- digitalWrite(MotorLeft1,LOW);

- digitalWrite(MotorLeft2,LOW);

- }

-

- irrecv.resume(); // 繼續收下一組紅外線訊號

- }

-}

-

-*******************************************************************************

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle)

-int elevatorPin = 12; // Channel 2 (Steering)

-

-const int ENA = 5; // PWM for speed for Motor 1

-const int ENB = 4; // PWM for speed for Motor 2

-

-const int IN1 = 0; // Direction for Motor 1

-const int IN2 = 2; // Direction pin 1 for Motor 2

-

-long aileronControl; // Mapped value from aileron channel (0-100)

-long elevatorControl; // Mapped value from elevator channel (0-100)

-

-// Reads the PWM signal from the aileron channel and maps it to 0-100

-long readAileronControlSignal() {

- unsigned long rawPWM = pulseIn(aileronPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale

- }

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-// Reads the PWM signal from the elevator channel and maps it to 0-100

-long readElevatorControlSignal() {

- unsigned long rawPWM = pulseIn(elevatorPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale

- }

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

- pinMode(elevatorPin, INPUT);

-

- pinMode(ENA, OUTPUT);

- pinMode(ENB, OUTPUT);

- pinMode(IN1, OUTPUT);

- pinMode(IN2, OUTPUT);

-

- // Initialize motors to off

- digitalWrite(IN1, LOW);

- digitalWrite(IN2, LOW);

- analogWrite(ENA, 0);

- analogWrite(ENB, 0);

-}

-

-// Helper function to control a single motor

-// pwmVal: -255 (full backward) to 255 (full forward)

-void setMotorOutput(int dirPin, int speedPin, int pwmVal) {

- if (pwmVal > 0) { // Forward

- digitalWrite(dirPin, HIGH);

- analogWrite(speedPin, pwmVal);

- } else if (pwmVal < 0) { // Backward

- digitalWrite(dirPin, LOW);

- analogWrite(speedPin, -pwmVal); // Speed is positive

- } else { // Stop

- digitalWrite(dirPin, LOW);

- analogWrite(speedPin, 0);

- }

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal(); // Throttle (0-100, 50 is neutral)

- elevatorControl = readElevatorControlSignal(); // Steering (0-100, 50 is neutral)

-

- // Map control values directly

- // aileronControl (0-100) to throttleValue (-255 to 255)

- // 0 -> -255 (full reverse), 50 -> 0 (stop), 100 -> 255 (full forward)

- long throttleValue = map(aileronControl, 0, 100, -255, 255);

-

- // elevatorControl (0-100) to steeringValue (-255 to 255)

- // 0 -> -255 (full left turn effect), 50 -> 0 (straight), 100 -> 255 (full right turn effect)

- long steeringValue = map(elevatorControl, 0, 100, -255, 255);

-

- // Mix throttle and steering for differential drive

- long motor1Pwm = throttleValue + steeringValue;

- long motor2Pwm = throttleValue - steeringValue;

-

- // Constrain PWM values to the valid range [-255, 255]

- motor1Pwm = constrain(motor1Pwm, -255, 255);

- motor2Pwm = constrain(motor2Pwm, -255, 255);

-

- // Set motor speeds and directions

- setMotorOutput(IN1, ENA, motor1Pwm); // Motor 1

- setMotorOutput(IN2, ENB, motor2Pwm); // Motor 2

-

- delay(20); // Delay for responsiveness

-}

-#include <Adafruit_NeoPixel.h>

-

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle) // D5

-int elevatorPin = 12; // Channel 2 (Steering) // D6

-

-const int IN1 = 0; // Direction for Motor 1 // D3

-const int IN2 = 2; // Direction pin 1 for Motor 2 // D4

-

-// WS2812 LED Strip Configuration

-#define LED_PIN 15 // nodemcu pin D8

-#define LED_COUNT 8

-Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);

-

-long aileronControl; // Mapped value from aileron channel (0-100)

-long elevatorControl; // Mapped value from elevator channel (0-100)

-

-// Reads the PWM signal from the aileron channel and maps it to 0-100

-long readAileronControlSignal() {

- unsigned long rawPWM = pulseIn(aileronPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- // Valid RC pulses are typically 1000-2000us. Values outside ~900-2100us are treated as invalid.

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-// Reads the PWM signal from the elevator channel and maps it to 0-100

-long readElevatorControlSignal() {

- unsigned long rawPWM = pulseIn(elevatorPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- // Valid RC pulses are typically 1000-2000us. Values outside ~900-2100us are treated as invalid.

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

- pinMode(elevatorPin, INPUT); // Initialize elevator pin

-

- pinMode(ENA, OUTPUT);

- pinMode(ENB, OUTPUT);

- pinMode(IN1, OUTPUT);

- pinMode(IN2, OUTPUT);

-

- // Initialize motors to off

- digitalWrite(IN1, LOW);

- digitalWrite(IN2, LOW);

- analogWrite(ENA, 0);

- analogWrite(ENB, 0);

-

- Serial.begin(9600);

-

- strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)

- strip.show(); // Turn OFF all pixels ASAP

- strip.setBrightness(50); // Set BRIGHTNESS to about 1/5 (max = 255)

-}

-

-// Helper function to control a single motor

-// pwmVal: -255 (full backward) to 255 (full forward)

-void setMotorOutput(int dirPin, int speedPin, int pwmVal) {

- if (pwmVal > 0) { // Forward

- digitalWrite(dirPin, HIGH);

- analogWrite(speedPin, pwmVal);

- } else if (pwmVal < 0) { // Backward

- digitalWrite(dirPin, LOW);

- analogWrite(speedPin, -pwmVal); // Speed is positive

- } else { // Stop

- digitalWrite(dirPin, LOW); // Or HIGH, doesn't matter much if speed is 0

- analogWrite(speedPin, 0);

- }

-}

-

-// Helper function to map RC control input (0-100) to an output range (e.g., -255 to 255)

-// with a deadband around the center (e.g., 50).

-long mapWithDeadband(long rcValue, int rcMin, int rcMax, int rcCenter, int deadbandRadius, int outMin, int outMax) {

- long mappedValue = 0;

- int deadbandLower = rcCenter - deadbandRadius;

- int deadbandUpper = rcCenter + deadbandRadius;

-

- if (rcValue < deadbandLower) {

- // Map the range [rcMin, deadbandLower - 1] to [outMin, -1]

- // Ensure deadbandLower - 1 is not less than rcMin

- if (deadbandLower -1 < rcMin) {

- mappedValue = outMin;

- } else {

- mappedValue = map(rcValue, rcMin, deadbandLower - 1, outMin, -1);

- }

- } else if (rcValue > deadbandUpper) {

- // Map the range [deadbandUpper + 1, rcMax] to [1, outMax]

- // Ensure deadbandUpper + 1 is not greater than rcMax

- if (deadbandUpper + 1 > rcMax) {

- mappedValue = outMax;

- } else {

- mappedValue = map(rcValue, deadbandUpper + 1, rcMax, 1, outMax);

- }

- } else {

- // Inside deadband

- mappedValue = 0;

- }

- return constrain(mappedValue, outMin, outMax);

-}

-

-// Function to create a random blinking effect for WS2812 LEDs

-void randomBlinkEffect() {

- for (int i = 0; i < LED_COUNT; i++) {

- // Turn on a random LED with a random color

- if (random(0, 2) == 1) { // 50% chance to turn on this LED

- strip.setPixelColor(i, strip.Color(random(0, 256), random(0, 256), random(0, 256)));

- } else {

- strip.setPixelColor(i, strip.Color(0, 0, 0)); // Turn off

- }

- }

- strip.show(); // Send the updated pixel colors to the hardware.

- delay(100); // Wait a short period

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal(); // Throttle (0-100)

- elevatorControl = readElevatorControlSignal(); // Steering (0-100)

-

- // Print the mapped control signal values to the Serial Monitor

- Serial.print("Aileron (Throttle): ");

- Serial.print(aileronControl);

- Serial.print(" Elevator (Steering): ");

- Serial.print(elevatorControl);

- Serial.println();

-

- // Define deadband radius (e.g., +/- 5 around center of 50 for a 0-100 input)

- // This means input values from 45 to 55 (inclusive if center is 50 and radius is 5) will be treated as 0.

- int deadbandRadius = 15;

- float steeringFactor = 3; // Adjust this value to change steering sensitivity

- float throttleFactor = 3; // Adjust this value to change throttle sensitivity (e.g., 1.2 for 20% stronger throttle)

-

- // Map control values with deadband

- long rawThrottleValue = mapWithDeadband(aileronControl, 0, 100, 50, deadbandRadius, -255, 255);

- long rawSteeringValue = mapWithDeadband(elevatorControl, 0, 100, 50, deadbandRadius, -255, 255);

-

- // Apply sensitivity factors

- long throttleValue = rawThrottleValue * throttleFactor;

- long adjustedSteeringValue = rawSteeringValue * steeringFactor;

-

- // Mix throttle and steering for differential drive

- long motor1Pwm = throttleValue + adjustedSteeringValue;

- long motor2Pwm = throttleValue - adjustedSteeringValue;

-

- // Constrain PWM values to the valid range [-255, 255]

- motor1Pwm = constrain(motor1Pwm, -255, 255);

- motor2Pwm = constrain(motor2Pwm, -255, 255);

-

- // Set motor speeds and directions

- setMotorOutput(IN1, ENA, motor1Pwm); // Motor 1

- setMotorOutput(IN2, ENB, motor2Pwm); // Motor 2

-

- // Add the LED effect

- randomBlinkEffect();

-

- delay(20); // Shorter delay for better responsiveness

-}

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle) // D5

-int elevatorPin = 12; // Channel 2 (Steering) // D6

-

-const int MOTOR1_CTRL_PIN = 4; // GPIO4 (D2)

-const int MOTOR2_CTRL_PIN = 5; // GPIO5 (D1)

-

-long aileronControl; // Mapped value from aileron channel (0-100)

-long elevatorControl; // Mapped value from elevator channel (0-100)

-

-unsigned long rawAileronPWM = 0;

-unsigned long rawElevatorPWM = 0;

-

-const int PWM_MAX = 255; // ESP8266 PWM range is 0-1023

-const int PWM_STOP = PWM_MAX / 2; // ~511 or 512

-

-long readAileronControlSignal() {

- rawAileronPWM = pulseIn(aileronPin, HIGH, 25000);

- if (rawAileronPWM == 0 || rawAileronPWM < 900 || rawAileronPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawAileronPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-long readElevatorControlSignal() {

- rawElevatorPWM = pulseIn(elevatorPin, HIGH, 25000);

- if (rawElevatorPWM == 0 || rawElevatorPWM < 900 || rawElevatorPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawElevatorPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

- pinMode(elevatorPin, INPUT); // Initialize elevator pin

-

- pinMode(MOTOR1_CTRL_PIN, OUTPUT);

- pinMode(MOTOR2_CTRL_PIN, OUTPUT);

-

- Serial.begin(9600);

- brakeMotor1();

- brakeMotor2();

-}

-

-void driveMotor1(bool forward) {

- if (forward) {

- digitalWrite(MOTOR1_CTRL_PIN, HIGH);

- } else {

- digitalWrite(MOTOR1_CTRL_PIN, LOW);

- }

-}

-

-void brakeMotor1() {

- analogWrite(MOTOR1_CTRL_PIN, PWM_STOP);

-}

-

-void driveMotor2(bool forward) {

- if (forward) {

- digitalWrite(MOTOR2_CTRL_PIN, HIGH);

- } else {

- digitalWrite(MOTOR2_CTRL_PIN, LOW);

- }

-}

-

-void brakeMotor2() {

- analogWrite(MOTOR2_CTRL_PIN, PWM_STOP);

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal(); // Throttle (0-100)

- elevatorControl = readElevatorControlSignal(); // Steering (0-100)

-

- // Simplified driving approach - no mixing

- String motor1Command = "STOP";

- String motor2Command = "STOP";

-

- // Handle throttle control (forward/reverse)

- if (aileronControl > 60) {

- // Forward

- driveMotor1(true);

- driveMotor2(true);

- motor1Command = "FORWARD";

- motor2Command = "FORWARD";

- } else if (aileronControl < 40) {

- // Reverse

- driveMotor1(false);

- driveMotor2(false);

- motor1Command = "REVERSE";

- motor2Command = "REVERSE";

- } else if (elevatorControl > 60) {

- // Turn right (M1 forward, M2 reverse)

- driveMotor1(true);

- driveMotor2(false);

- motor1Command = "FORWARD";

- motor2Command = "REVERSE";

- } else if (elevatorControl < 40) {

- // Turn left (M1 reverse, M2 forward)

- driveMotor1(false);

- driveMotor2(true);

- motor1Command = "REVERSE";

- motor2Command = "FORWARD";

- } else {

- // Stop

- brakeMotor1();

- brakeMotor2();

- }

-

- // 1. RC INPUTS

- Serial.print("RC INPUT: ");

- Serial.print("Aileron="); Serial.print(rawAileronPWM); Serial.print("us ("); Serial.print(aileronControl); Serial.print("%), ");

- Serial.print("Elevator="); Serial.print(rawElevatorPWM); Serial.print("us ("); Serial.print(elevatorControl); Serial.println("%)");

-

- // 2. COMMANDS

- Serial.print("MOTORS: ");

- Serial.print("M1="); Serial.print(motor1Command); Serial.print(", ");

- Serial.print("M2="); Serial.println(motor2Command);

-

- Serial.println();

-

- delay(20); // Delay for RC input reading cycle

-}

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle) // D5

-int elevatorPin = 12; // Channel 2 (Steering) // D6

-

-const int MOTOR1_CTRL_PIN = 4; // GPIO4 (D2)

-const int MOTOR2_CTRL_PIN = 5; // GPIO5 (D1)

-

-long aileronControl; // Mapped value from aileron channel (0-100)

-long elevatorControl; // Mapped value from elevator channel (0-100)

-

-unsigned long rawAileronPWM = 0;

-unsigned long rawElevatorPWM = 0;

-

-const int PWM_MAX = 255; // ESP8266 PWM range is 0-255 for analogWrite

-const int PWM_STOP = PWM_MAX / 2; // Approx. 127, this is brake/neutral for DRV8871 single-pin

-const int PWM_MIN_MOVING = 10; // Minimum offset from PWM_STOP to ensure movement

-

-// Add these global variables for current speeds and ramp step

-int currentMotor1Speed = PWM_STOP;

-int currentMotor2Speed = PWM_STOP;

-const int RAMP_STEP = 5; // Adjust for desired smoothness. Smaller is smoother.

-

-long readAileronControlSignal() {

- rawAileronPWM = pulseIn(aileronPin, HIGH, 25000);

- if (rawAileronPWM == 0 || rawAileronPWM < 900 || rawAileronPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawAileronPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-long readElevatorControlSignal() {

- rawElevatorPWM = pulseIn(elevatorPin, HIGH, 25000);

- if (rawElevatorPWM == 0 || rawElevatorPWM < 900 || rawElevatorPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawElevatorPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

- pinMode(elevatorPin, INPUT);

-

- pinMode(MOTOR1_CTRL_PIN, OUTPUT);

- pinMode(MOTOR2_CTRL_PIN, OUTPUT);

-

- Serial.begin(9600);

-

- // Initialize motors to braked state using currentSpeed variables

- currentMotor1Speed = PWM_STOP;

- currentMotor2Speed = PWM_STOP;

- analogWrite(MOTOR1_CTRL_PIN, currentMotor1Speed);

- analogWrite(MOTOR2_CTRL_PIN, currentMotor2Speed);

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal(); // Throttle (0-100)

- elevatorControl = readElevatorControlSignal(); // Steering (0-100)

-

- String motor1TargetCommand = "BRAKE"; // Command based on stick input

- String motor2TargetCommand = "BRAKE";

- int targetMotor1Speed = PWM_STOP; // Target speed for this loop iteration

- int targetMotor2Speed = PWM_STOP; // Target speed for this loop iteration

-

- // Handle throttle control (forward/reverse)

- if (aileronControl > 55) {

- // Forward

- int speed = map(aileronControl, 61, 100, PWM_STOP + PWM_MIN_MOVING, PWM_MAX);

- speed = constrain(speed, PWM_STOP + PWM_MIN_MOVING, PWM_MAX);

- targetMotor1Speed = speed;

- targetMotor2Speed = speed;

- motor1TargetCommand = "FORWARD";

- motor2TargetCommand = "FORWARD";

- } else if (aileronControl < 45) {

- // Reverse

- int speed = map(aileronControl, 39, 0, PWM_STOP - PWM_MIN_MOVING, 0);

- speed = constrain(speed, 0, PWM_STOP - PWM_MIN_MOVING);

- targetMotor1Speed = speed;

- targetMotor2Speed = speed;

- motor1TargetCommand = "REVERSE";

- motor2TargetCommand = "REVERSE";

- } else if (elevatorControl > 55) {

- // Turn right (throttle is neutral)

- int turnOffset = map(elevatorControl, 61, 100, PWM_MIN_MOVING, (PWM_MAX - PWM_STOP));

- targetMotor1Speed = constrain(PWM_STOP + turnOffset, 0, PWM_MAX);

- targetMotor2Speed = constrain(PWM_STOP - turnOffset, 0, PWM_MAX);

- motor1TargetCommand = "TURN_R_M1";

- motor2TargetCommand = "TURN_R_M2";

- } else if (elevatorControl < 45) {

- // Turn left (throttle is neutral)

- int turnOffset = map(elevatorControl, 39, 0, PWM_MIN_MOVING, (PWM_MAX - PWM_STOP));

- targetMotor1Speed = constrain(PWM_STOP - turnOffset, 0, PWM_MAX);

- targetMotor2Speed = constrain(PWM_STOP + turnOffset, 0, PWM_MAX);

- motor1TargetCommand = "TURN_L_M1";

- motor2TargetCommand = "TURN_L_M2";

- } else {

- // All sticks neutral - Target speeds remain PWM_STOP (Brake)

- // motor1TargetCommand and motor2TargetCommand remain "BRAKE"

- }

-

- // Ramping logic for Motor 1

- if (currentMotor1Speed < targetMotor1Speed) {

- currentMotor1Speed = min(currentMotor1Speed + RAMP_STEP, targetMotor1Speed);

- } else if (currentMotor1Speed > targetMotor1Speed) {

- currentMotor1Speed = max(currentMotor1Speed - RAMP_STEP, targetMotor1Speed);

- }

-

- // Ramping logic for Motor 2

- if (currentMotor2Speed < targetMotor2Speed) {

- currentMotor2Speed = min(currentMotor2Speed + RAMP_STEP, targetMotor2Speed);

- } else if (currentMotor2Speed > targetMotor2Speed) {

- currentMotor2Speed = max(currentMotor2Speed - RAMP_STEP, targetMotor2Speed);

- }

-

- // Apply the ramped speeds

- analogWrite(MOTOR1_CTRL_PIN, currentMotor1Speed);

- analogWrite(MOTOR2_CTRL_PIN, currentMotor2Speed);

-

- Serial.print("RC INPUT: ");

- Serial.print("Aileron="); Serial.print(rawAileronPWM); Serial.print("us ("); Serial.print(aileronControl); Serial.print("%), ");

- Serial.print("Elevator="); Serial.print(rawElevatorPWM); Serial.print("us ("); Serial.print(elevatorControl); Serial.print("%)");

- Serial.print("MOTORS: ");

- Serial.print("M1_Cmd="); Serial.print(motor1TargetCommand); Serial.print(" (CurPWM:"); Serial.print(currentMotor1Speed); Serial.print(" TgtPWM:"); Serial.print(targetMotor1Speed); Serial.print("), ");

- Serial.print("M2_Cmd="); Serial.print(motor2TargetCommand); Serial.print(" (CurPWM:"); Serial.print(currentMotor2Speed); Serial.print(" TgtPWM:"); Serial.print(targetMotor2Speed); Serial.print(")");

-

- Serial.println();

- delay(20); // Delay for RC input reading cycle & ramping interval

-}

-#include <Adafruit_NeoPixel.h>

-

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle) // D5

-int elevatorPin = 12; // Channel 2 (Steering) // D6

-

-// WS2812 LED Strip Configuration

-#define LED_PIN 15 // nodemcu pin D8

-#define LED_COUNT 8

-Adafruit_NeoPixel strip(LED_COUNT, LED_PIN, NEO_GRB + NEO_KHZ800);

-

-// Updated comments for IN1 and IN2 to reflect their role as single control pins

-const int IN1 = 4; // Control pin for Motor 1 // D3 (was GPIO2 on NodeMCU D4, now D2/GPIO4)

-const int IN2 = 5; // Control pin for Motor 2 // D4 (was GPIO0 on NodeMCU D3, now D1/GPIO5)

-

-const int PWM_MAX = 255; // ESP8266 PWM range is 0-255 for analogWrite.

- // Note: Default ESP8266 analogWrite range is 0-1023.

- // Call analogWriteRange(255) in setup if 0-255 is desired.

-const int PWM_STOP = PWM_MAX / 2; // Approx. 127, this is brake/neutral for DRV8871 single-pin

-const int PWM_MIN_MOVING = 10; // Minimum offset from PWM_STOP to ensure movement

-

-

-long aileronControl; // Mapped value from aileron channel (0-100)

-long elevatorControl; // Mapped value from elevator channel (0-100)

-

-// Reads the PWM signal from the aileron channel and maps it to 0-100

-long readAileronControlSignal() {

- unsigned long rawPWM = pulseIn(aileronPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- // Valid RC pulses are typically 1000-2000us. Values outside ~900-2100us are treated as invalid.

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-// Reads the PWM signal from the elevator channel and maps it to 0-100

-long readElevatorControlSignal() {

- unsigned long rawPWM = pulseIn(elevatorPin, HIGH, 25000);

- // If signal is lost (timeout) or clearly out of valid RC pulse range, return neutral (50)

- // Valid RC pulses are typically 1000-2000us. Values outside ~900-2100us are treated as invalid.

- if (rawPWM == 0 || rawPWM < 900 || rawPWM > 2100) {

- return 50; // Mid-point for 0-100 scale (1500us equivalent), results in stop

- }

- // Otherwise, the signal is likely valid; constrain it to the standard 1000-2000us range and map

- long constrainedPWM = constrain(rawPWM, 1000, 2000);

- return map(constrainedPWM, 1000, 2000, 0, 100);

-}

-

-void setup() {

- pinMode(aileronPin, INPUT);

- pinMode(elevatorPin, INPUT); // Initialize elevator pin

-

- pinMode(IN1, OUTPUT);

- pinMode(IN2, OUTPUT);

-

- // Initialize motors to brake state

- analogWrite(IN1, PWM_STOP);

- analogWrite(IN2, PWM_STOP);

-

- Serial.begin(9600);

- // If you intend PWM_MAX to be 255, you might need to call:

- // analogWriteRange(255);

- // Otherwise, analogWrite will use a 0-1023 range by default on ESP8266.

-

- strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)

- strip.show(); // Turn OFF all pixels ASAP

- strip.setBrightness(50); // Set BRIGHTNESS to about 1/5 (max = 255)

-}

-

-// Updated helper function to control a single motor using one control pin

-// motorCtrlPin: The pin connected to the motor driver's input (e.g., IN1 for motor 1)

-// pwmVal: -255 (full backward) to 255 (full forward), 0 for brake

-void setMotorOutput(int motorCtrlPin, int pwmVal) {

- int actualPwm;

- if (pwmVal == 0) {

- actualPwm = PWM_STOP; // Brake

- } else if (pwmVal > 0) { // Forward

- // Map pwmVal from (1 to 255) to (PWM_STOP + PWM_MIN_MOVING to PWM_MAX)

- actualPwm = map(pwmVal, 1, 255, PWM_STOP + PWM_MIN_MOVING, PWM_MAX);

- // Ensure the value is within the defined forward motion range

- actualPwm = constrain(actualPwm, PWM_STOP + PWM_MIN_MOVING, PWM_MAX);

- } else { // Backward (pwmVal < 0)

- // Map abs(pwmVal) from (1 to 255) to (PWM_STOP - PWM_MIN_MOVING to 0)

- actualPwm = map(abs(pwmVal), 1, 255, PWM_STOP - PWM_MIN_MOVING, 0);

- // Ensure the value is within the defined reverse motion range

- actualPwm = constrain(actualPwm, 0, PWM_STOP - PWM_MIN_MOVING);

- }

- analogWrite(motorCtrlPin, actualPwm);

-}

-

-// Helper function to map RC control input (0-100) to an output range (e.g., -255 to 255)

-// with a deadband around the center (e.g., 50).

-long mapWithDeadband(long rcValue, int rcMin, int rcMax, int rcCenter, int deadbandRadius, int outMin, int outMax) {

- long mappedValue = 0;

- int deadbandLower = rcCenter - deadbandRadius;

- int deadbandUpper = rcCenter + deadbandRadius;

-

- if (rcValue < deadbandLower) {

- // Map the range [rcMin, deadbandLower - 1] to [outMin, -1]

- // Ensure deadbandLower - 1 is not less than rcMin

- if (deadbandLower -1 < rcMin) {

- mappedValue = outMin;

- } else {

- mappedValue = map(rcValue, rcMin, deadbandLower - 1, outMin, -1);

- }

- } else if (rcValue > deadbandUpper) {

- // Map the range [deadbandUpper + 1, rcMax] to [1, outMax]

- // Ensure deadbandUpper + 1 is not greater than rcMax

- if (deadbandUpper + 1 > rcMax) {

- mappedValue = outMax;

- } else {

- mappedValue = map(rcValue, deadbandUpper + 1, rcMax, 1, outMax);

- }

- } else {

- // Inside deadband

- mappedValue = 0;

- }

- return constrain(mappedValue, outMin, outMax);

-}

-

-// Function to create a random blinking effect for WS2812 LEDs

-void randomBlinkEffect() {

- for (int i = 0; i < LED_COUNT; i++) {

- // Turn on a random LED with a random color

- if (random(0, 2) == 1) { // 50% chance to turn on this LED

- strip.setPixelColor(i, strip.Color(random(0, 256), random(0, 256), random(0, 256)));

- } else {

- strip.setPixelColor(i, strip.Color(0, 0, 0)); // Turn off

- }

- }

- strip.show(); // Send the updated pixel colors to the hardware.

- delay(100); // Wait a short period

-}

-

-void loop() {

- // Read mapped control signals from each channel

- aileronControl = readAileronControlSignal(); // Throttle (0-100)

- elevatorControl = readElevatorControlSignal(); // Steering (0-100)

-

- // Print the mapped control signal values to the Serial Monitor

- Serial.print("Aileron (Throttle): ");

- Serial.print(aileronControl);

- Serial.print(" Elevator (Steering): ");

- Serial.print(elevatorControl);

- Serial.println();

-

- // Define deadband radius (e.g., +/- 5 around center of 50 for a 0-100 input)

- // This means input values from 45 to 55 (inclusive if center is 50 and radius is 5) will be treated as 0.

- int deadbandRadius = 15;

- float steeringFactor = 1; // Adjust this value to change steering sensitivity

- float throttleFactor = 1; // Adjust this value to change throttle sensitivity (e.g., 1.2 for 20% stronger throttle)

-

- // Map control values with deadband

- long rawThrottleValue = mapWithDeadband(aileronControl, 0, 100, 50, deadbandRadius, -255, 255);

- long rawSteeringValue = mapWithDeadband(elevatorControl, 0, 100, 50, deadbandRadius, -255, 255);

-

- // Apply sensitivity factors

- long throttleValue = rawThrottleValue * throttleFactor;

- long adjustedSteeringValue = rawSteeringValue * steeringFactor;

-

- // Mix throttle and steering for differential drive

- long motor1Pwm = throttleValue + adjustedSteeringValue;

- long motor2Pwm = throttleValue - adjustedSteeringValue;

-

- // Constrain PWM values to the valid range [-255, 255]

- motor1Pwm = constrain(motor1Pwm, -255, 255);

- motor2Pwm = constrain(motor2Pwm, -255, 255);

-

- // Set motor speeds and directions using the updated function

- setMotorOutput(IN1, motor1Pwm); // Motor 1

- setMotorOutput(IN2, motor2Pwm); // Motor 2

-

- // Add the LED effect

- randomBlinkEffect();

-

- delay(20); // Shorter delay for better responsiveness

-}

-// Define pins for each RC channel

-int aileronPin = 14; // Channel 1 (Throttle) // D5

-int elevatorPin = 12; // Channel 2 (Steering) // D6

-

-// Motor control pins

-const int MOTOR1_CTRL_PIN = 4; // GPIO4 (D2)

-const int MOTOR2_CTRL_PIN = 5; // GPIO5 (D1)

-

-const int PWM_MAX = 1023; // ESP8266 PWM range is 0-1023

-const int PWM_STOP = PWM_MAX / 2; // ~511 or 512

-

-void setup() {

- pinMode(MOTOR1_CTRL_PIN, OUTPUT);

- pinMode(MOTOR2_CTRL_PIN, OUTPUT);

- Serial.begin(9600);

-}

-