diff --git a/circit.jpg b/circit.jpg
index 095f63e..a37b46a 100644
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diff --git a/relay-dpdt-motor.brd b/relay-dpdt-motor.brd
index f8373db..5a9eb59 100644
--- a/relay-dpdt-motor.brd
+++ b/relay-dpdt-motor.brd
@@ -483,7 +483,7 @@ design rules under a new name.
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diff --git a/relay-dpdt-motor.sch b/relay-dpdt-motor.sch
index 8605211..2893eb4 100644
--- a/relay-dpdt-motor.sch
+++ b/relay-dpdt-motor.sch
@@ -2690,13 +2690,14 @@ type 0309, grid 2.5 mm
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diff --git a/wiperMotorPlatform.ino b/wiperMotorPlatform.ino
index 70523bf..074ab3e 100644
--- a/wiperMotorPlatform.ino
+++ b/wiperMotorPlatform.ino
@@ -6,31 +6,31 @@
#define DEBUG 1
-byte addresses[][7] = {"ampBot","ampCtl"};
+byte addresses[][7] = {"ampBot", "ampCtl"};
typedef enum { role_ping_out = 1, role_pong_back } role_e; // The various roles supported by this sketch
-role_e role ;
+role_e role ;
/**
-* Create a data structure for transmitting and receiving data
-* This allows many variables to be easily sent and received in a single transmission
-* See http://www.cplusplus.com/doc/tutorial/structures/
+ Create a data structure for transmitting and receiving data
+ This allows many variables to be easily sent and received in a single transmission
+ See http://www.cplusplus.com/doc/tutorial/structures/
*/
-struct dataStruct{
+struct dataStruct {
unsigned long _micros;
int xin;
int yin;
-}myData;
+} myData;
-RF24 radio(9,8); //also miso/mosi at 11/12/13
+RF24 radio(9, 8); //also miso/mosi at 11/12/13
#define role_pin 2
/////// remote /////////////
#define AX_pin A0
#define AY_pin A1
///////// motor /////////////
int inApin[2] = {A3, 6}; // INA: Clockwise input
-//had to change inBpin from the default 8,9
+//had to change inBpin from the default 8,9
//beacuse of conflict with NRF24 wiring // on the nano side :/
int inBpin[2] = {7, 10}; // INB: Counter-clockwise input
int pwmpin[2] = {3, 5}; // PWM input
@@ -40,7 +40,7 @@ int leftMotorSpeed, rightMotorSpeed;
void setup() {
Serial.begin(115200);
- radio.begin();
+ radio.begin();
pinMode(role_pin, INPUT);
digitalWrite(role_pin, HIGH);
@@ -52,8 +52,8 @@ void setup() {
radio.openWritingPipe(addresses[1]);
radio.openReadingPipe(1, addresses[0]);
radio.startListening();
-
- if(DEBUG) Serial << "im a bot!" << endl;
+
+ if (DEBUG) Serial << "im a bot!" << endl;
} else {
role = role_ping_out;
@@ -61,59 +61,61 @@ void setup() {
radio.openReadingPipe(1, addresses[1]);
radio.stopListening();
- if(DEBUG) Serial << "im a controller!" << endl;
+ if (DEBUG) Serial << "im a controller!" << endl;
}
- if(role==role_pong_back)
+ if (role == role_pong_back)
{
- // Initialize motor pins as outputs
- for (int i = 0; i < 2; i++)
- {
- pinMode(inApin[i], OUTPUT);
- pinMode(inBpin[i], OUTPUT);
- pinMode(pwmpin[i], OUTPUT);
- }
- // Initialize braked
- for (int i = 0; i < 2; i++)
- {
- digitalWrite(inApin[i], LOW);
- digitalWrite(inBpin[i], LOW);
- }
- }else if(role == role_ping_out){
- pinMode(AX_pin, INPUT);
- pinMode(AY_pin, INPUT);
+ // Initialize motor pins as outputs
+ for (int i = 0; i < 2; i++)
+ {
+ pinMode(inApin[i], OUTPUT);
+ pinMode(inBpin[i], OUTPUT);
+ pinMode(pwmpin[i], OUTPUT);
}
+ // Initialize braked
+ for (int i = 0; i < 2; i++)
+ {
+ digitalWrite(inApin[i], LOW);
+ digitalWrite(inBpin[i], LOW);
+ }
+ } else if (role == role_ping_out) {
+ pinMode(AX_pin, INPUT);
+ pinMode(AY_pin, INPUT);
+ }
}
void loop() {
-/****************** Ping Out Role ***************************/
+ /****************** Ping Out Role ***************************/
if (role == role_ping_out) {
-
+
myData.xin = analogRead(AX_pin);
- if(myData.xin == 517){ myData.xin = 518;} //terrible hack.
+ if (myData.xin == 517) {
+ myData.xin = 518; //terrible hack.
+ }
myData.yin = analogRead(AY_pin);
bool ok = radio.write( &myData, sizeof(myData) );
- if(DEBUG) Serial<<"xin:"<