Benceee

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• Master espruinio: Wii Nunchuk AND Slave espruino: L298N motor controller wireless with 2x NRF24L01P

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  @Gordon replied
• Master espruinio: Wii Nunchuk AND Slave espruino: L298N motor controller wireless with 2x NRF24L01P

  in Projects • 10 years, 9 months

  

  This project is a wireless controlled 2 wheeled robot.

  Master hardware:
  -Espruino 1v54

  • Wii nunchuck (B10, B11)
    

  • NRF24L01P wireless chip
    
    Master software code:

    var btn_state=false;
    var read_wii,wii_data,wii_data_new;
    SPI1.setup({sck:A5, miso:A6, mosi:A7});
    //I2C1.setup({scl:B6,sda:B7}); // slave
    I2C2.setup({scl:B10,sda:B11}); //master
    var nrf = require("NRF24L01P").connect( SPI1, B0, B1 );
    var wii = require("wii_nunchuck").connect(I2C2);
    function onInit() {
    nrf.init([0,0,0,0,2], [0,0,0,0,1]);
    wii_data_new=wii_data;
    }
    onInit();
    setInterval(function() {
    nrf.masterHandler();
    }, 50);
    function start_wii_read(){
    read_wii = setInterval(function(){
    //console.log(JSON.Stringify(wii.read()));
    wii_data_new=wii.read();
    //console.log(wii_data.joy);
    if(wii_data.btn.z!==wii_data_new.btn.z){
      if(wii_data_new.btn.z){ wii_btn_z_press(); } else { wii_btn_z_release(); }
    }
    if(wii_data.btn.c!==wii_data_new.btn.c){
      if(wii_data_new.btn.c){ wii_btn_c_press(); } else { wii_btn_c_release(); }
    }
    wii_data=wii_data_new;
    },20);
    }
    function stop_wii_read(){
    	clearInterval(start_read);
    }
    
    function wii_btn_z_press(){
    //console.log("Z");
    LED2.set();
    nrf.sendCommand("MOTOR(0,1,0,1);",function(r){});
    //nrf.sendCommand("LED2.set();",function(r){});
    }
    function wii_btn_c_press(){
    LED1.set();
    nrf.sendCommand("MOTOR(1,0,1,0);",function(r){});
    //console.log("C");
    }
    function wii_btn_z_release(){
    LED2.reset();
    nrf.sendCommand("MOTOR(0,0,0,0);",function(r){});
    //nrf.sendCommand("LED2.reset();",function(r){});
    //console.log("stopZ");
    }
    function wii_btn_c_release(){
    //console.log("stopC");
    LED1.reset();
    nrf.sendCommand("MOTOR(0,0,0,0);",function(r){});
    //nrf.sendCommand("LED1.reset();",function(r){});
    //console.log("stopC");
    }
    
    function led_on() {
    	LED3.set();
    }
    
    function led_off() {
    	LED3.reset();
    }
    
    wii_data=wii.read();
    
    btn_watch_press = setWatch(function(){
    	if(!btn_state){
    		led_on();
        start_wii_read();
    } else {
    		led_off();
        stop_wii_read();
    	}
    	btn_state=!btn_state;
    },BTN,{repeat:true,edge:'rising'});
    btn_watch_release = setWatch(function(){
    	console.log(btn_state);
    },BTN,{repeat:true,edge:'falling'});
    

  Slave hardware:
  -Espruino 1v53
  -L298N motor controller board with 2 hacked micro servo motor used as simple DC motor
  -NRF24L01P wireless chip
  -6xAA wired in series rechargeable 2000mAh battery
  
  Slave software code:

  /* NRF24L01P - wireless */
  SPI1.setup({sck:A5, miso:A6, mosi:A7});
  var nrf = require("NRF24L01P").connect( SPI1, B0, B1 );
  function onInit() {
    nrf.init([0,0,0,0,1], [0,0,0,0,2]);
  }
  onInit();
  setInterval(function() {
    nrf.slaveHandler();
  }, 50);
  
  /* motor controller */
  var MOTOR_PINS=[C9,C8,C7,C6];
  function MOTOR(val1,val2,val3,val4){
    digitalWrite(MOTOR_PINS[0],parseInt(val1));
    digitalWrite(MOTOR_PINS[1],parseInt(val2));
    digitalWrite(MOTOR_PINS[2],parseInt(val3));
    digitalWrite(MOTOR_PINS[3],parseInt(val4));
  }
  

  Sometimes NRF24L01P on master trow an error: TX not received 30

  Wii nunchuk I2C port BUSY. Got error message when try to save() to master espruino.
  Error message:

  INTERNAL ERROR: Timeout on I2C Read BUSY
  INTERNAL ERROR: Timeout on I2C Read SB
  INTERNAL ERROR: Timeout on I2C Read Receive Mode
  INTERNAL ERROR: Timeout on I2C Read Receive
  INTERNAL ERROR: Timeout on I2C Read Receive
  INTERNAL ERROR: Timeout on I2C Read Receive
  INTERNAL ERROR: Timeout on I2C Read Receive
  INTERNAL ERROR: Timeout on I2C Read Receive
  INTERNAL ERROR: Timeout on I2C Read Receive
  INTERNAL ERROR: Timeout on I2C Read STOP
  at line 1 col 23
  {var a=b.readFrom(82,6);b.writeTo(82,0);return{joy:{x:(a[0]-127)/128,y:(a[1]-127)/128},acc:{x:(a[2]-127)/54,y:(a[3]-127)/54,z:(a[4]-127)/54},btn:{z:!(a[5]&1),c:!(a[5]&2)}}}

                     ^
  

  in function "read" called from line 3 col 27
  in function called from system
  Execution Interrupted during event processing - clearing all timers and watches.

  Video:
  https://vimeo.com/87922368