openDogV3

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#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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#include <Wire.h>  // Comes with Arduino IDE
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#include <LiquidCrystal_I2C.h>
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// Set the pins on the I2C chip used for LCD connections (Some LCD use Address 0x27 and others use 0x3F):
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LiquidCrystal_I2C lcd(0x27,20,4);  // set the LCD address to 0x27 for a 16 chars and 2 line display
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unsigned long previousMillis = 0;
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const long interval = 20;
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int but1;
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int but2;
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int but3;
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int but4;
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int sw1;
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int sw2;
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int sw3;
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int sw4;
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int sw5;
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int axis1;
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int axis2;
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int axis3;
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int axis4;
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int axis5;
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int axis6;
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String count;
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struct SEND_DATA_STRUCTURE{
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//struct __attribute__((__packed__)) SEND_DATA_STRUCTURE{
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  //put your variable definitions here for the data you want to send
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  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
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    int16_t menuDown;  
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    int16_t Select;    
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    int16_t menuUp;  
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    int16_t toggleBottom;  
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    int16_t toggleTop; 
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    int16_t toggle1;
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    int16_t toggle2;
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    int16_t mode;  
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    int16_t RLR;
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    int16_t RFB;
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    int16_t RT;
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    int16_t LLR;
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    int16_t LFB;
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    int16_t LT;
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};
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struct RECEIVE_DATA_STRUCTURE_REMOTE{
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  //put your variable definitions here for the data you want to receive
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  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
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  int16_t mode;
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  int16_t count;
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};
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int remoteFlag = 0;
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SEND_DATA_STRUCTURE mydata_send;
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RECEIVE_DATA_STRUCTURE_REMOTE mydata_remote;
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RF24 radio(14, 10); // CE, CSN
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const byte addresses[][6] = {"00001", "00002"};
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void setup() {  
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  lcd.init();  // initialize the lcd 
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  lcd.backlight();
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  pinMode(0, INPUT_PULLUP);
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  pinMode(1, INPUT_PULLUP);
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  pinMode(2, INPUT_PULLUP);
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  pinMode(3, INPUT_PULLUP);
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  pinMode(4, INPUT_PULLUP);  
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  pinMode(5, INPUT_PULLUP); 
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  pinMode(6, INPUT_PULLUP); 
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  pinMode(7, INPUT_PULLUP);
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  pinMode(8, INPUT_PULLUP);
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  pinMode(A1, INPUT);
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  pinMode(A2, INPUT);
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  pinMode(A4, INPUT);
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  pinMode(A5, INPUT);
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  pinMode(A6, INPUT);
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  pinMode(A7, INPUT);
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  radio.begin();
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  radio.openWritingPipe(addresses[1]); // 00001
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  radio.openReadingPipe(1, addresses[0]); // 00002
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  radio.setPALevel(RF24_PA_MIN);
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  radio.stopListening();
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  lcd.begin(20,4);   // Initialize the lcd for 20 chars 4 lines, turn on backlight
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  lcd.setCursor(0,0);
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  lcd.print("Everything Remote   ");
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  lcd.setCursor(0,1);
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  lcd.print("XRobots.co.uk       ");
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  Serial.begin(115200);
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}
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void loop() {
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     unsigned long currentMillis = millis();
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         if (remoteFlag == 0 && currentMillis - previousMillis >= 10) { 
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              previousMillis = currentMillis;  
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              but1 =  digitalRead(2);
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              but2 =  digitalRead(3);
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              but3 =  digitalRead(0);
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              but4 =  digitalRead(1);
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              sw1 = digitalRead(4);
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              sw2 = digitalRead(5);
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              sw3 = digitalRead(6);
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              sw4 = digitalRead(8);
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              sw5 = digitalRead(7);
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              if (but1 == 0) {
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                mydata_send.menuDown = 1;
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              }
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              else {
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                mydata_send.menuDown = 0;
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              }
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              if (but4 == 0) {
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                mydata_send.Select = 1;
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              }
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              else {
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                mydata_send.Select = 0;
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              }
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              if (but2 == 0) {
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                mydata_send.menuUp = 1;
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              }
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              else {
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                mydata_send.menuUp = 0;
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              }
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              if (sw2 == 0) {
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                mydata_send.toggleBottom = 1;
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              }
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              else {
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                mydata_send.toggleBottom = 0;
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              }
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              if (sw1 == 0) {
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                mydata_send.toggleTop = 1;
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              }
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              else {
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                mydata_send.toggleTop = 0;
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              }
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              //******************
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              if (sw3 == 0) {
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                mydata_send.toggle1 = 1;
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              }
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              else {
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                mydata_send.toggle1 = 0;
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              }
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              if (but3 == 0) {
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                mydata_send.toggle2 = 1;
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              }
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              else {
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                mydata_send.toggle2 = 0;
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              } 
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              axis1 = analogRead(A5);
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              axis2 = analogRead(A4);
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              axis3 = analogRead(A6);
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              axis4 = analogRead(A3);
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              axis5 = analogRead(A2);
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              axis6 = analogRead(A1);            
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              axis2 = map(axis2,0,1023,1023,0);   // reverse some axis due to physical wiring
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              axis4 = map(axis4,0,1023,1023,0);   // reverse some axis due to physical wiring
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              // reverse walking & reverse all controls (twist is unaffected because CW and CCW and still the same no matter which way around it is)
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              if (sw5 == 0) {
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                axis1 = map(axis1,0,1023,1023,0);   // reverse axis
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                axis2 = map(axis2,0,1023,1023,0);   // reverse axis
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                axis4 = map(axis4,0,1023,1023,0);   // reverse axis
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                axis5 = map(axis5,0,1023,1023,0);   // reverse axis
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              }
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              axis6 = map(axis6,0,1023,1023,0);   // reverse some axis due to physical wiring            
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              mydata_send.RFB = axis1;
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              mydata_send.RLR = axis2;
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              mydata_send.RT = axis3;
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              mydata_send.LFB = axis4;
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              mydata_send.LLR = axis5;
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              mydata_send.LT = axis6;              
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              radio.write(&mydata_send, sizeof(SEND_DATA_STRUCTURE));               
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         }        
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  }  // end of main loop
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