Update nRF_RobotControl.ino

nRF_BTLE_ReceiveData/nRF_RobotControl/nRF_RobotControl.ino

@@ -14,12 +14,12 @@
 Servo rightWheel;
 Servo rightWheel;
 Servo leftWheel;
 Servo leftWheel;
 
 
-RF24 radio(9,10);   // Create RF24 object to work with the RF24 library.
+RF24 radio(9, 10);  // Create RF24 object to work with the RF24 library.
 BTLE btle(&radio);  // Create BTLE object to work with the BTLE library.
 BTLE btle(&radio);  // Create BTLE object to work with the BTLE library.
 
 
 /* Replace! "CustomName" to the name of your device. Password - maximum length (14)! characters.
 /* Replace! "CustomName" to the name of your device. Password - maximum length (14)! characters.
    It's for recognizing the correct data packets. */
    It's for recognizing the correct data packets. */
-#define PASSWORD "Galaxy A70"
+#define PASSWORD "FBI van"
 
 
 /* Define functions used for the robot to control */
 /* Define functions used for the robot to control */
 /* Stop the robot */
 /* Stop the robot */
@@ -28,24 +28,24 @@ void setWheelsStop() {
   leftWheel.writeMicroseconds(1500);
   leftWheel.writeMicroseconds(1500);
 }
 }
 /* Drive forward */
 /* Drive forward */
-void setWheelsForward(){
-  rightWheel.write(1300);
-  leftWheel.write(1700);
+void setWheelsForward() {
+  rightWheel.writeMicroseconds(1300);
+  leftWheel.writeMicroseconds(1700);
 }
 }
 /* Drive right */
 /* Drive right */
-void setWheelsRight(){
-  rightWheel.write(1700);
-  leftWheel.write(1700);
+void setWheelsRight() {
+  rightWheel.writeMicroseconds(1700);
+  leftWheel.writeMicroseconds(1700);
 }
 }
 /* Drive left */
 /* Drive left */
-void setWheelsLeft(){
-  rightWheel.write(1300);
-  leftWheel.write(1300);
+void setWheelsLeft() {
+  rightWheel.writeMicroseconds(1300);
+  leftWheel.writeMicroseconds(1300);
 }
 }
 /* Drive backward */
 /* Drive backward */
-void setWheelsBackward(){
-  rightWheel.write(1700);
-  leftWheel.write(1300);
+void setWheelsBackward() {
+  rightWheel.writeMicroseconds(1700);
+  leftWheel.writeMicroseconds(1300);
 }
 }
 
 
 void setup() {
 void setup() {
@@ -56,30 +56,30 @@ void setup() {
   /* Attach servos to digital pins defined earlier */
   /* Attach servos to digital pins defined earlier */
   rightWheel.attach(rightServo);
   rightWheel.attach(rightServo);
   leftWheel.attach(leftServo);
   leftWheel.attach(leftServo);
-  
+
   /* Put servos to standstill */
   /* Put servos to standstill */
   //setWheelsStop();
   //setWheelsStop();
 }
 }
 
 
 void loop() {
 void loop() {
   String str = "";  // For collecting a string of values ​​from different types of variables
   String str = "";  // For collecting a string of values ​​from different types of variables
-  
+
   /* Start listening. If data is received it is stored in the "buffer".
   /* Start listening. If data is received it is stored in the "buffer".
      Then the received data is decoded and checked (CRC). */
      Then the received data is decoded and checked (CRC). */
-  
+
   if (btle.listen()) {
   if (btle.listen()) {
     // Serial.print("Got payload: ");  // If data is received, print "Got payload: "
     // Serial.print("Got payload: ");  // If data is received, print "Got payload: "
     /* Store the received data into the buffer */
     /* Store the received data into the buffer */
-    for (uint8_t i = 2; i < (btle.buffer.pl_size)-6; i++) {
-        str += (char (btle.buffer.payload[i]));
-        // Serial.print(btle.buffer.payload[i],HEX); Serial.print(" ");  // To receive data in HEX format
-        // Serial.print(char (btle.buffer.payload[i])); Serial.print(" ");  // To receive data in char format
+    for (uint8_t i = 2; i < (btle.buffer.pl_size) - 6; i++) {
+      str += (char (btle.buffer.payload[i]));
+      // Serial.print(btle.buffer.payload[i], HEX); Serial.print(" "); // To receive data in HEX format
+      // Serial.print(char (btle.buffer.payload[i])); Serial.print(" ");  // To receive data in char format
     }
     }
 
 
     /* (Spam protection) only if string starts with "CustomName" */
     /* (Spam protection) only if string starts with "CustomName" */
     if (str.startsWith(PASSWORD)) {
     if (str.startsWith(PASSWORD)) {
       str.replace(PASSWORD, "");  // (remove / replace) PASSWORD
       str.replace(PASSWORD, "");  // (remove / replace) PASSWORD
-      
+
       /* According to what data was sent, print the direction */
       /* According to what data was sent, print the direction */
       if ((char (str.charAt(2))) == 7) {
       if ((char (str.charAt(2))) == 7) {
         Serial.println("RIGHT");
         Serial.println("RIGHT");
@@ -101,12 +101,12 @@ void loop() {
         setWheelsForward();
         setWheelsForward();
         delay(100);
         delay(100);
       }
       }
+    } else  {
+      Serial.println("STOP");
+      setWheelsStop();
+      delay(100);
     }
     }
-    else  {
-        Serial.println("STOP");
-        setWheelsStop();
-        delay(100);
-      }
+
   }
   }
 
 
   /* Hop channels through 37-39 to scan for data transmissions */
   /* Hop channels through 37-39 to scan for data transmissions */