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Arduino Nano 做的一个航模小遥控器_航模遥控器代码
作者：繁依Fanyi0 | 2024-08-21 19:20:40
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航模遥控器代码
寒假无聊，在家里整了个航模遥控器。遥控器的代码大体算是完成了，但略显粗糙，计划写个蓝牙软件对这个遥控器进行调参，开学了，就没整软件。
接收机的代码写的也差不多了，我自己只试过无刷电调的单向驱动，还不错。双向电调家里边没有，所以双向电调的对中信号也没算出来。
NANO引脚分配
左遥杆 X轴Y轴 A0,A1
右遥杆 X轴Y轴 A2,A3
OLED屏幕 SDA SCL A4,A5
电位器1,2 A6,A7
电容触摸按键 2自锁2点动 D2,D3,D4,D5
指示灯LED PWM输出 D6
二段开关 D7,D8
NRF24L01P引脚 D9,D10,D11,D12,D13
蓝牙串口 RX0,TX1
LED指示灯
指示灯我用的是共阳极的三色LED，之前，我还不知道有2812这种好东西 o(0…0)o ，所以就自己整了个电路
由于NANO只剩一个6号io口，使用6号口的pwm，利用LM339电压比较器将电压分开,对LED分开控制；
下边是LM339接线图；
但实际接线过程中，不懂什么原理，1.2-2.5v那一栏是没有用的，而且直接用直流电源接输入端与用方波信号输入出现不同的结果，不知哪位大神能解答一下
但这些问题不影响使用，只用了两个状态
遥控器外壳
遥控器代码
遥控器的代码大体算完成，不改也能直接使用，但推荐按实际情况修改。
/* THE ZG NANO遥控器 by 微风萧萧 引脚分配： A0 A1 A2 A3 遥杆4通道 A5 A6 OLED液晶屏SCL SDA A7 A8 电位器1 电位器2 D2 D3 D4 D5 4触摸按键 2自锁 2点动 D6 PWM LED 输出 D7 D8 二段开关 SW1 SW2 nrf24l01p: CE -> D9 CSN -> D10 MOSI -> D11 MISO -> D12 SCK -> D13 IRQ -> \ VCC -> 3.3V GND -> GND */ #include <SPI.h> #include <nRF24L01.h> #include <RF24.h> #include <U8g2lib.h> #include <Wire.h> U8G2_SH1106_128X64_NONAME_1_HW_I2C u8g2(U8G2_R0,U8X8_PIN_NONE); static const unsigned char PROGMEM bitmap[] ={ //59*31 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0xF8,0x7F,0x00,0x00,0x7F,0x00,0x00,0x80,0xFF,0x7F,0x00,0xC0,0xFF,0x00, 0x00,0xF8,0xFF,0x7F,0x00,0xE0,0xFF,0x00,0x00,0xF8,0x7F,0xFC,0x00,0xF8,0xF7,0x00, 0x00,0xF8,0x01,0x7E,0x00,0xFC,0xE1,0x00,0x00,0x00,0x00,0x3F,0x00,0x7E,0x00,0x00, 0x00,0x00,0x80,0x1F,0x00,0x3F,0x00,0x00,0x00,0x00,0xC0,0x0F,0x80,0x0F,0x00,0x00, 0x00,0x00,0xE0,0x07,0xC0,0x07,0x00,0x00,0x00,0x00,0xF8,0x03,0xE0,0x03,0x00,0x00, 0x00,0x00,0xFC,0x00,0xE0,0x01,0xFC,0x00,0x00,0x00,0x7E,0x00,0xF0,0x81,0xFF,0x00, 0x00,0x00,0x3F,0x00,0xF0,0xF0,0xFF,0x01,0x00,0x00,0x1F,0x00,0x78,0xF8,0xFF,0x01, 0x00,0xC0,0x0F,0x00,0x78,0xF8,0xF3,0x00,0x00,0xE0,0x07,0x00,0x3C,0x78,0xF8,0x00, 0x00,0xF8,0x03,0x00,0x3C,0x00,0xF8,0x00,0x00,0xFC,0x00,0x00,0x3C,0x00,0x7C,0x00, 0x00,0x7E,0x00,0x3C,0x3C,0x00,0x3E,0x00,0x00,0x3F,0x00,0x3E,0x3C,0x00,0x3F,0x00, 0x80,0x1F,0x80,0x3F,0x7C,0x80,0x1F,0x00,0xC0,0x0F,0xF0,0x1F,0xFC,0xE0,0x0F,0x00, 0xE0,0xFF,0xFF,0x07,0xF8,0xF9,0x07,0x00,0xF0,0xFF,0xFF,0x03,0xF8,0xFF,0x01,0x00, 0xF0,0xFF,0x7F,0x00,0xF0,0xFF,0x00,0x00,0xF8,0xFF,0x07,0x00,0xC0,0x1F,0x00,0x00, 0xF0,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}; static const unsigned char PROGMEM bitmapa[] ={0x0C,0x1D,0x27,0x36,0x1C,0x1C,0x36,0x27,0x1D,0x0C}; // 蓝牙图标6*9 RF24 radio(9, 10); // CE, CSN const byte address[6] = "zg111"; //定义通讯地址 struct Signal { byte vlx; byte vly; byte vrx; byte vry; byte potentialA; //电位器a byte potentialB; //电位器b byte switchA; //开关a ------>F->1001 B->1110 byte switchB; //开关b ------>O->1011 X->1100 byte touchA; //触摸开关a ------>NL->1010 LI->1000 byte touchB; //触摸开关b ------>NL->1111 LI->0000 }; Signal data; int SWC1,SWC2,SWC3,SWC4; int SW5,SW6; //系统操作按键 int cont1,cont2,cont3,cont4; //按键消抖中间变量 int mode; //系统模式更换变量 mode=0 操作模式 mode=1设置模式 int ym; //oled页面变量 ym=1,2,3 int Bluetooh; //蓝牙开启,默认开启 char sreialData; // 储存蓝牙指令 void page1() { u8g2.setFont(u8g2_font_timB18_tf); u8g2.setFontPosTop(); u8g2.setCursor(2,2); u8g2.print("THE ZG"); u8g2.drawHLine(1,21,126); //直线 （x，y，长度） u8g2.setFont(u8g2_font_helvR08_tf); u8g2.setFontPosTop(); u8g2.drawFrame(1,23,78,22); //矩形框 （起点x，起点y，长，宽） u8g2.setCursor(2,24);u8g2.print("LX:");u8g2.setCursor(18,24);u8g2.print(data.vlx); u8g2.setCursor(40,24);u8g2.print("RX:");u8g2.setCursor(57,24);u8g2.print(data.vrx); u8g2.setCursor(2,34);u8g2.print("LY:");u8g2.setCursor(18,34);u8g2.print(data.vly); u8g2.setCursor(40,34);u8g2.print("RY:");u8g2.setCursor(57,34);u8g2.print(data.vry); u8g2.setCursor(2,45);u8g2.print("ReU:");u8g2.setCursor(26,45);u8g2.print(data.potentialA); u8g2.setCursor(48,45);u8g2.print("RxD:");u8g2.setCursor(73,45);u8g2.print(data.potentialB); u8g2.setCursor(85,24);u8g2.print("SW1:"); //------------------------- if (SWC1 == 1) {u8g2.setCursor(112,24);u8g2.print("F"); } else {u8g2.setCursor(112,24);u8g2.print("B");} u8g2.setCursor(85,34);u8g2.print("SW2:"); //---------------------- if (SWC2 == 1) {u8g2.setCursor(112,34);u8g2.print("X"); } else {u8g2.setCursor(112,34);u8g2.print("O");} u8g2.setCursor(94,44);u8g2.print("S3:"); //---------------------- if (SWC3 == 1) {u8g2.setCursor(112,44);u8g2.print("T"); } else {u8g2.setCursor(112,44);u8g2.print("K");} u8g2.setCursor(94,54);u8g2.print("S4:"); //---------------------- if (SWC4 == 1) {u8g2.setCursor(112,54);u8g2.print("R"); } else {u8g2.setCursor(112,54);u8g2.print("C");} u8g2.setFont(u8g2_font_ncenR08_tf); u8g2.setFontPosTop(); u8g2.setCursor(2,54);u8g2.print("[Back]"); //---------------------- } void page2() { u8g2.drawXBMP(34, 2, 59, 31, bitmap); u8g2.setFont(u8g2_font_helvR08_tf); u8g2.setFontPosTop(); if(Bluetooh ==1){ u8g2.drawXBMP(120, 2, 6, 10, bitmapa);}else{ u8g2.setCursor(120,2);u8g2.print(" ");} if(mode ==1){ u8g2.setCursor(2,42);u8g2.print("Setup"); }else if(mode ==0){ u8g2.setCursor(2,42);u8g2.print("Operation");} u8g2.setFont(u8g2_font_ncenR08_tf); u8g2.setFontPosTop(); u8g2.setCursor(2,54);u8g2.print("[Select]"); u8g2.setCursor(80,54);u8g2.print("[DataSita]"); } void page3() { u8g2.setFont(u8g2_font_timB18_tf); u8g2.setFontPosTop(); u8g2.setCursor(2,2); u8g2.print("THE ZG"); u8g2.drawHLine(1,21,126); //直线 （x，y，长度） u8g2.setFont(u8g2_font_helvR08_tf); u8g2.setFontPosTop(); u8g2.setCursor(44,24);u8g2.print("Sorry,"); u8g2.setCursor(12,34);u8g2.print("no time,come out, OK"); u8g2.setCursor(5,44);u8g2.print(">"); if (Bluetooh ==1){ u8g2.setCursor(12,44);u8g2.print("Turn off the Bluetooth?"); }else if(Bluetooh ==0 ){ u8g2.setCursor(12,44);u8g2.print("Turn on the Bluetooth?"); } u8g2.setFont(u8g2_font_ncenR08_tf); u8g2.setFontPosTop(); u8g2.setCursor(2,54);u8g2.print("[Back]"); u8g2.setCursor(102,54);u8g2.print("[OK]"); } void setup(){ radio.begin(); radio.openWritingPipe(address);// 写入地址 radio.setPALevel(RF24_PA_MIN); //小功率 radio.stopListening(); //nrf24l01设为发射模式 Serial.begin(9600); //打开串口接收蓝牙数据 u8g2.begin(); u8g2.enableUTF8Print(); pinMode(6, OUTPUT); //led指示灯 pinMode(7, INPUT); //通道开关1 pinMode(8, INPUT); //通道开关2 pinMode(2, INPUT); pinMode(3, INPUT); //通道开关3 pinMode(4, INPUT); pinMode(5, INPUT); //通道开关4 mode=0; ym=2; cont1 = HIGH; cont2 = HIGH; cont3 = HIGH; cont4 = HIGH; Bluetooh = 1; //开启蓝牙 =0时关闭串口接收 if (analogRead(A6)>20||analogRead(A7)>20){ //检测电位器初始值,不为零时led提示 for(int i=0;i<3;i++){ analogWrite(6,0);//led闪烁3次 delay(500); analogWrite(6,250); delay(500); } } else{ digitalWrite(6,0);//led闪烁1次 delay(500); digitalWrite(6,250); } } int chValue(int val, int lower, int middle, int upper) { val = constrain(val, lower, upper); //将val限制在lower~upper范围内 if ( val < middle ) val = map(val, lower, middle, 0, 127); else val = map(val, middle, upper, 128, 255); return val; } void loop(){ SW5 = digitalRead(2); SW6 = digitalRead(4); if( Bluetooh == 1){ if (Serial.available() > 0) { delay(5); sreialData = Serial.read(); if (sreialData == 'S') { //设置模式 mode=1; digitalWrite(6,0); } else if (sreialData == 'P') { //操作模式 mode = 0;digitalWrite(6,255); } else if (sreialData == 'M') { //页面1 ym=1; } else if (sreialData == 'U') { //页面2 ym=2; }else if (sreialData == 'N') { //页面3 ym=3; } delay(4); Serial.println(sreialData); } } if(SW5 == 1&&SW6 == 1&&cont3==HIGH){ delay(5); if(mode==0){delay(10);mode = 1 ;digitalWrite(6,0);} else if(mode==1){delay(10);mode =0;digitalWrite(6,255);} }else if(SW5 == 0&&SW6 == 0&&cont3==LOW){ delay(5); cont3 = !cont3; } if(mode ==0){ SWC1 = digitalRead(7); SWC2 = digitalRead(8); SWC3 = digitalRead(3); SWC4 = digitalRead(5); data.vlx =255- chValue(analogRead(A0), 150, 478, 900); data.vly = chValue(analogRead(A1), 140, 505, 910); data.vrx = chValue(analogRead(A2), 160, 492, 900); data.vry =255- chValue(analogRead(A3), 140, 513, 910); data.potentialA = map(analogRead(A6),0, 1023, 0, 255); data.potentialB = map(analogRead(A7),0, 1023, 0, 255); if(SWC1 ==1){ data.switchA = 1001 ;}else{data.switchA = 1110 ;} if(SWC2 ==1){ data.switchB = 1100 ;}else{data.switchB = 1011 ;} if(SWC3 ==1){ data.touchA = 1000 ;}else{data.touchA = 1010 ;} if(SWC4 ==1){ data.touchB = 1101 ;}else{data.touchB = 1111 ;} radio.write(&data, sizeof(Signal)); }else if(mode ==1){ if(ym==1){ if (SW6 == HIGH && cont2 == HIGH) { delay(5); ym =2; cont2 = !cont2; } else if (SW6 == LOW && cont2 == LOW) { delay(5); cont2 = !cont2; } }else if(ym==2){ if (SW6 == HIGH && cont2 == HIGH) { delay(5); ym =3; cont2 = !cont2; } else if (SW6 == LOW && cont2 == LOW) { delay(5); cont2 = !cont2; } if (SW5 == HIGH && cont1 == HIGH) { delay(5); ym = 1; cont1 = !cont1; } else if (SW5 == LOW && cont1 == LOW) { delay(5); cont1 = !cont1; } }else if(ym ==3){ if (SW6 == HIGH && cont2 == HIGH) { delay(5); ym =2; cont2 = !cont2; } else if (SW6 == LOW && cont2 == LOW) { delay(5); cont2 = !cont2; } if (SW5 == HIGH && cont1 == HIGH) { delay(5); if(Bluetooh == 1){ delay(5); Bluetooh =0; }else if(Bluetooh ==0){ delay(5); Bluetooh =1; } cont1 = !cont1; } else if (SW5 == LOW && cont1 == LOW) { delay(5); cont1 = !cont1; } } } //--- u8g2.firstPage(); do{ if(ym==3){page3();} else if(ym==2){page2();} else if(ym==1){page1();} } while (u8g2.nextPage()); delay(50); }
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代码仅供参考，实际使用得根据实际情况改写
接收机代码
注意：接收机的24L01P 与nano的接口与遥控器的接法不同
//这是遥控器的
RF24 radio(9, 10 ); // CE, CSN
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//这是接收机的
RF24 radio(7, 8); // CE, CSN
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模式1：接收机采用PCA9685模块扩展PWM接口；50Hz 无刷电调上升沿为1ms-2ms 对应值为187-373； 舵机上升沿102为0度 187为45度 280为90度 373为135度 510为180度模拟通道
数值算法：
0.05 X 4096 X 0.915 ~= 187 ;
0.1 X 4096 X 0.915 ~= 374 ;
以此类推。
模式2：接收机采用nano自带的3,5,6,9,10 PWM引脚输出。11脚被占用，用软件模拟的话会占用单片机资源，所以，只有五路PWM输出口。
模式3：自行定义~
/* * THE ZG 接收机主程序 * BY:微风萧萧 * nrf24l01p: CE -> D07 CSN -> D08 MOSI -> D11 MISO -> D12 SCK -> D13 IRQ -> \ VCC -> 3.3V GND -> GND */ #include <SPI.h> #include <nRF24L01.h> #include <RF24.h> #include <Servo.h> #include <Wire.h> #include <EEPROM.h> #include "Adafruit_PWMServoDriver.h" Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver(0x40); // 遥杆1 遥杆2 遥杆3 遥杆4 电位器A 电位器B int cha1, cha2, cha3, cha4, cha5, cha6; // 开关A 开关B 开关R 开关L int swA, swB, swR, swL; // 定义数据变量 int mode =0,Rexo,Reup,Redo,cont; int addr; Servo ch1; Servo ch2; Servo ch3; Servo ch4; Servo ch5; struct Signal { byte vlx; byte vly; byte vrx; byte vry; byte potentialA; //电位器a byte potentialB; //电位器b byte switchA; //开关a ------>F->1001 B->1110 byte switchB; //开关b ------>O->1011 X->1100 byte touchA; //触摸开关a ------>NL->1010 LI->1000 byte touchB; //触摸开关b ------>NL->1111 LI->0000 }; Signal data; const byte address[6] = "zg111"; RF24 radio(7, 8); // CE, CSN void setup() { ch1.attach(3); ch2.attach(5); ch3.attach(6); ch4.attach(9); ch5.attach(10); pwm.begin(); //PCA9685初始化 pwm.setPWMFreq(50); //50HZ Serial.begin(9600); //打开串口 radio.begin(); //nrf24l01p 初始化 radio.openReadingPipe(0, address); radio.setPALevel(RF24_PA_MIN); radio.startListening(); pinMode(A0,INPUT); pinMode(A1,OUTPUT); pinMode(A2,OUTPUT); pinMode(A3,OUTPUT); mode = EEPROM.read(addr); cont = HIGH; pinMode(LED_BUILTIN,OUTPUT);//LED推挽输出 digitalWrite(LED_BUILTIN,HIGH); digitalWrite(A1,HIGH); digitalWrite(A2,HIGH); digitalWrite(A3,HIGH); } unsigned long lastRecvTime = 0; void recvData(){ while( radio.available() ) { radio.read(&data, sizeof(Signal));//接收数据 lastRecvTime = millis(); //当前时间ms } } void loop() { recvData(); unsigned long now = millis(); if ( now - lastRecvTime > 500 ) {digitalWrite(LED_BUILTIN,HIGH);}else digitalWrite(LED_BUILTIN,LOW); Rexo = analogRead(A0); Reup = analogRead(A6); Redo = analogRead(A7); swA = data.switchA; swB = data.switchB; swR = data.touchA; swL = data.touchB; if(Rexo <= 20&&cont == HIGH){ //模式转换 delay(4); mode++; if(mode >=4){ mode =0; } cont =!cont; }else if(Rexo >=1000 &&cont ==LOW){ delay(4); cont =!cont; } /* if(Reup <= 20&&cont == HIGH){ //功能暂定 delay(4); cont =!cont; }else if(Reup >=1000 &&cont ==LOW){ delay(4); cont =!cont; } if(Redo <= 20&&cont == HIGH){ //功能暂定 delay(4); cont =!cont; }else if(Redo >=1000 &&cont ==LOW){ delay(4); cont =!cont; }*/ if(mode==0){ digitalWrite(A1,1); digitalWrite(A2,1); digitalWrite(A3,1); }else if(mode==1){ // 蓝色 模式一 cha1 = map(data.vlx, 0, 255, 1000, 2000); // cha2 = map(data.vly, 0, 255, 185,370); // cha3 = map(data.vrx, 0, 255, 1000, 2000); // cha4 = map(data.vry, 0, 255, 1000, 2000); // cha5 = map(data.potentialA, 0, 255, 185, 370); //50Hz 无刷电调上升沿为1ms-2ms 对应值为187-373 cha6 = map(data.potentialB, 0, 255, 185, 370); //舵机上升沿102为0度 187为45度 280为90度 373为135度 510为180度 digitalWrite(A1,0); digitalWrite(A3,1); pwm.setPWM(12,0,cha5); pwm.setPWM(13,0,cha6); if(cha2<=310&&cha2>=245){ pwm.setPWM(4,0,227); }else pwm.setPWM(4,0,cha2); } else if(mode==2){ //绿色 模式二 cha1 = map(data.vlx, 0, 255, 950, 1900); // cha2 = map(data.vly, 0, 255, 950, 1900); // cha3 = map(data.vrx, 0, 255, 950, 1900); // cha4 = map(data.vry, 0, 255, 950, 1900); // cha5 = map(data.potentialA, 0, 255, 185, 370); cha6 = map(data.potentialB, 0, 255, 185, 370); digitalWrite(A1,1); digitalWrite(A2,0); ch1.writeMicroseconds(cha1); // 3号引脚 lx ch2.writeMicroseconds(cha2); // 5号引脚 ly ch3.writeMicroseconds(cha3); // 6号引脚 rx ch4.writeMicroseconds(cha4); // 9号引脚 ry //ch5.writeMicroseconds(cha2); //1000 --2000 对应1ms-2ms } else if(mode==3){ //红色 模式三 digitalWrite(A2,1); digitalWrite(A3,0); } EEPROM.write(addr, mode); delay(50); }
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接收机代码未完整，仅供参考；
接收机可选三种模式，通过按键A0端口选取，使用EEPROM记录当前值保存；防止下次上电是模式复位。4个数字通道未定义；可以根据实际需要修改。
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