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Author: gauravtak077

nrf24L01_Gestur_Transmitte_code.ino

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+
+#include <SPI.h>        //SPI library for communicate with the nRF24L01+
+#include "RF24.h"       //The main library of the nRF24L01+
+#include "Wire.h"       //For communicate
+#include "I2Cdev.h"     //For communicate with MPU6050
+#include "MPU6050.h"    //The main library of the MPU6050
+
+
+//Define the object to access and cotrol the Gyro and Accelerometer (We don't use the Gyro data)
+MPU6050 mpu;
+int16_t ax, ay, az;
+int16_t gx, gy, gz;
+
+//Define packet for the direction (X axis and Y axis)
+int data[2];
+
+//Define object from RF24 library - 8 and 9 are a digital pin numbers to which signals CE and CSN are connected.
+RF24 radio(8,9);
+
+//Create a pipe addresses for the communicate                                    
+const uint64_t pipe = 0xE8E8F0F0E1LL;
+
+void setup(void){
+  Serial.begin(9600);
+  Wire.begin();
+  mpu.initialize();              //Initialize the MPU object
+  radio.begin();                 //Start the nRF24 communicate     
+  radio.openWritingPipe(pipe);   //Sets the address of the receiver to which the program will send data.
+}
+
+void loop(void){
+  
+  //With this function, the acceleration and gyro values of the axes are taken. 
+  //If you want to control the car axis differently, you can change the axis name in the map command.
+  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
+
+  //In two-way control, the X axis (data [0]) of the MPU6050 allows the robot to move forward and backward. 
+  //Y axis (data [1]) allows the robot to right and left turn.
+  data[0] = map(ax, -17000, 17000, 300, 400 ); //Send X axis data
+  data[1] = map(ay, -17000, 17000, 100, 200);  //Send Y axis data
+  radio.write(data, sizeof(data));
+  Serial.print("X axix data = ");
+  Serial.println(data[0]);
+  Serial.print("Y axix data = ");
+  Serial.println(data[1]);
+}

nrf24L01_Gesture_Receiver_code.ino

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+
+#include <SPI.h>      //SPI library for communicate with the nRF24L01+
+#include "RF24.h"     //The main library of the nRF24L01+
+
+//Define enable pins of the Motors
+const int enbA = 3;
+const int enbB = 6;
+
+//Define control pins of the Motors
+//If the motors rotate in the opposite direction, you can change the positions of the following pin numbers
+const int IN1 = 2;    //Right Motor (-)
+const int IN2 = 4;    //Right Motor (+)
+const int IN3 = 5;    //Left Motor (+)
+const int IN4 = 7;    //Right Motor (-)
+
+//Define variable for the motors speeds
+//I have defined a variable for each of the two motors 
+//This way you can synchronize the rotation speed difference between the two motors
+int RightSpd = 200;
+int LeftSpd = 250;
+
+//Define packet for the direction (X axis and Y axis)
+int data[2];
+
+//Define object from RF24 library - 8 and 9 are a digital pin numbers to which signals CE and CSN are connected
+RF24 radio(8,9);
+
+//Create a pipe addresses for the communicate
+const uint64_t pipe = 0xE8E8F0F0E1LL;
+
+void setup(){
+  //Define the motor pins as OUTPUT
+  pinMode(enbA, OUTPUT);
+  pinMode(enbB, OUTPUT);
+  pinMode(IN1, OUTPUT);
+  pinMode(IN2, OUTPUT);
+  pinMode(IN3, OUTPUT);
+  pinMode(IN4, OUTPUT);
+
+   //digitalWrite(enbA, HIGH);
+   //digitalWrite(enbB, HIGH);
+  
+  Serial.begin(9600);
+  radio.begin();                    //Start the nRF24 communicate            
+  radio.openReadingPipe(1, pipe);   //Sets the address of the transmitter to which the program will receive data.
+  radio.startListening();             
+  }
+
+void loop(){
+  if (radio.available()){
+    radio.read(data, sizeof(data));
+
+    if(data[0] < 340){
+      //forward            
+      analogWrite(enbA, RightSpd);
+      analogWrite(enbB, LeftSpd);
+      digitalWrite(IN1, HIGH);
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, HIGH);
+      digitalWrite(IN4, LOW);
+      Serial.println("forward");
+    }
+    
+    if(data[0] > 360){
+      //backward              
+      analogWrite(enbA, RightSpd);
+      analogWrite(enbB, LeftSpd);
+      digitalWrite(IN1, LOW);
+      digitalWrite(IN2, HIGH);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, HIGH);
+      Serial.println("backward");
+    }
+     
+    if(data[1] > 160){
+       //right
+      analogWrite(enbA, RightSpd);
+      analogWrite(enbB, LeftSpd);
+      digitalWrite(IN1, LOW);
+      digitalWrite(IN2, HIGH);
+      digitalWrite(IN3, HIGH);
+      digitalWrite(IN4, LOW);
+      Serial.println("right");
+    }
+
+    if(data[1] < 140){
+     //left
+      analogWrite(enbA, RightSpd);
+      analogWrite(enbB, LeftSpd);
+      digitalWrite(IN1, HIGH);
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, HIGH);
+      Serial.println("left");
+    }
+
+    if(data[0] > 340 && data[0] < 360 && data[1] > 140 && data[1] < 160){
+      //stop car
+      analogWrite(enbA, 0);
+      analogWrite(enbB, 0);
+      digitalWrite(IN1, LOW);
+      digitalWrite(IN2, LOW);
+      digitalWrite(IN3, LOW);
+      digitalWrite(IN4, LOW);
+      Serial.println("stop");
+    }
+  }
+}