Complex RC Controller Code

[RC Tractor Guy]

This code is for a controller with two joysticks and two sliding potentiometers as well as a few push buttons. It still needs some work but it is working for me as is.

// Define variables
int Left_Joy_X = 0x00;
int Left_Joy_Y = 0x00;
int Left_Pot = 0x00;
int Right_Joy_X = 0x00;
int Right_Joy_Y = 0x00;
int Right_Pot = 0x00;
int Left_Joy_X_Old = 0x00;
int Left_Joy_Y_Old = 0x00;
int Left_Pot_Old = 0x00;
int Right_Joy_X_Old = 0x00;
int Right_Joy_Y_Old = 0x00;
int Right_Pot_Old = 0x00;
int Push_Buttons = 0x00;
int Data_Check_Timer = 0;
int DIP1 = LOW;
int DIP2 = LOW;
int DIP3 = LOW;
int DIP4 = LOW;
int DIP5 = LOW;
int Left_Joy_Button = LOW;
int Right_Joy_Button = LOW;
int Menu = 0;
int Indicators = 0;
int Head_Lights = 0;
int Work_Lights = 0;
int Indicators_Old = 0;
int Head_Lights_Old = 0;
int Work_Lights_Old = 0;

#include <SPI.h>
#include "RF24.h"

RF24 radio(8,10);

// Controller Address
const uint64_t pipe = 0xE8E8F0F0E2LL;

/*-----( Declare Variables )-----*/
uint8_t command[16];  // 2 element array of unsigned 8-bit type, holding Joystick readings



void setup()
{
 pinMode(2, INPUT_PULLUP);  // Dip switch 1
 pinMode(3, INPUT_PULLUP);  // Dip switch 2
 pinMode(4, INPUT_PULLUP);  // Dip switch 3
 pinMode(5, INPUT_PULLUP);  // Dip switch 4
 pinMode(6, INPUT_PULLUP);  // Dip switch 5
 pinMode(7, INPUT_PULLUP);  // Left joystick button
 pinMode(9, INPUT_PULLUP);  // Right joystick button

 command[0] = 0x4A;
 command[1] = 0x44;
 command[2] = 0x38;
 command[3] = 0x33;
 //command[4]=0;
 //command[5]=0;
 //command[6]=0;
 //command[7]=0;
 //command[8]=0;
 //command[9]=0;
 command[10]=0;
 command[11]=0;
 //command[12]=0;
 command[13]=0;
 command[14]=0;

 // initialize the serial communication:
 Serial.begin(9600);

 radio.begin();
radio.openWritingPipe(pipe);
}

void loop() {
 Check_Vehicle_ID();
 Check_Buttons();
 Check_Pots();
 Regular_Data_Check();
 delay(100);
}

void Check_Vehicle_ID(){    
 // Check Dip Switches
 DIP1=digitalRead(2);
 DIP2=digitalRead(3);
 DIP3=digitalRead(4);
 DIP4=digitalRead(5);
 DIP5=digitalRead(6);

 if(DIP1==LOW && DIP2==LOW && DIP3==LOW && DIP4==LOW && DIP5==LOW){
   command[0] = 0x4A;  // J
   command[1] = 0x44;  // D
   command[2] = 0x38;  // 8
   command[3] = 0x33;  // 3
 }
 
 if(DIP1==HIGH && DIP2==LOW && DIP3==LOW && DIP4==LOW && DIP5==LOW){
   command[0] = 0x4D;  // M
   command[1] = 0x38;  // 8
   command[2] = 0x36;  // 6
   command[3] = 0x38;  // 8
 }
 
}

void Check_Buttons(){

 Push_Buttons = analogRead(A6);       // read the value from the sensor

 if (Push_Buttons < 150){ // Button 1
   if (command[10] == 0 || command[10] == 2){
     command[10] = 1;
   }
   else {
     command[10] = 0;
   }
   while(Push_Buttons < 150){
     Push_Buttons = analogRead(A6);
   }
 }
 if (Push_Buttons > 150 && Push_Buttons < 380){  // Button 2

   if(command[11] == 0){
      command[11] = 1;
     }
     else{
       command[11] = 0;
     }
   
   while(Push_Buttons > 150 && Push_Buttons < 380){
     Push_Buttons = analogRead(A6);
   }  
 }
 if (Push_Buttons > 380 && Push_Buttons < 640){ // Button 3

   if (command[10] == 0 || command[10] == 1){
     command[10] = 2;
   }
   else {
     command[10] = 0;
   }

   while(Push_Buttons > 380 && Push_Buttons < 640){
     Push_Buttons = analogRead(A6);
   }  
 }
 if (Push_Buttons > 640 && Push_Buttons < 900){ // Button 4    

   if(command[14] == 0){
       command[14] = 1;
     }
     else{
       command[14] = 0;
     }

   while(Push_Buttons > 640 && Push_Buttons < 650){
     Push_Buttons = analogRead(A6);
   }  
 }

 // Check Joystick Switches
 Left_Joy_Button = digitalRead(7);
 Right_Joy_Button = digitalRead(9);

 if (Left_Joy_Button==LOW && Right_Joy_Button==LOW)
 {
   if(command[12]!=3){
     command[12]=3;  // Turn on Hazard Lights    
   }
   else{
     command[12]=0;  // Turn off Indicators    
   }

   // Wait for switch to be released
   while (Left_Joy_Button == LOW || Right_Joy_Button==LOW)
   {
     Left_Joy_Button = digitalRead(7);
     Right_Joy_Button = digitalRead(9);
   }
   Send_Data();
 }
 else if (Right_Joy_Button==LOW)
 {

   if (command[12] != 1){
     command[12]=1;  // Command to turn on right indicator
   }
   else {
     command[12]=0;  // Turn off Indicators    
   }

   // Wait for switch to be released
   while (Right_Joy_Button == LOW)
   {
     Right_Joy_Button = digitalRead(9);
   }
   Send_Data();
 }
 else if (Left_Joy_Button==LOW)
 {

   if (command[12] != 2){
     command[12]=2;  // Command to turn on right indicator
   }
   else {
     command[12]=0;  // Turn off Indicators    
   }

   // Wait for switch to be released
   while (Left_Joy_Button == LOW)
   {
     Left_Joy_Button = digitalRead(7);
   }
   Send_Data();
 }
 }


void Check_Pots(){
 Left_Joy_X = analogRead(A3);
 Left_Joy_X= map(Left_Joy_X, 0, 1024, 255, 0);
 Left_Joy_Y = analogRead(A2);
 Left_Joy_Y= map(Left_Joy_Y, 0, 1024, 255, 0);
 Left_Pot = analogRead(A4);
 Left_Pot= map(Left_Pot, 0, 1024, 255, 0);
 Right_Joy_X = analogRead(A1);
 Right_Joy_X= map(Right_Joy_X, 0, 1024, 255, 0);
 Right_Joy_Y = analogRead(A0);
 Right_Joy_Y= map(Right_Joy_Y, 0, 1024, 0, 255);
 Right_Pot = analogRead(A5);  
 Right_Pot= map(Right_Pot, 0, 1024, 255, 0);  

 if(Left_Joy_X != Left_Joy_X_Old || Left_Joy_Y != Left_Joy_Y_Old || Left_Pot != Left_Pot_Old || Right_Joy_X != Right_Joy_X_Old || Right_Joy_Y != Right_Joy_Y_Old || Right_Pot != Right_Pot_Old){
   command[4]=Left_Joy_X;
   command[5]=Left_Joy_Y;
   command[6]=Left_Pot;
   command[7]=Right_Joy_X;
   command[8]=Right_Joy_Y;
   command[9]=Right_Pot;

   Send_Data();

   Left_Joy_X_Old=Left_Joy_X;
   Left_Joy_Y_Old=Left_Joy_Y;
   Left_Pot_Old=Left_Pot;
   Right_Joy_X_Old=Right_Joy_X;
   Right_Joy_Y_Old=Right_Joy_Y;
   Right_Pot_Old=Right_Pot;
 }

}

// Function to send the data
void Send_Data(){
 radio.write(command, sizeof(command));
 Data_Check_Timer = 0;  
}

// Send data in regular intervals to prevent tractor loosing control
void Regular_Data_Check(){
 Data_Check_Timer=Data_Check_Timer+1;
 if(Data_Check_Timer=1024){
   Send_Data();
 }
}