平衡车/zh
502748957@qq.com（讨论 | 贡献）2015年11月26日 (四) 02:37的版本
目录概述
两轮自平衡小车是一个集多种功能于一体的综合系统，是自动控制理论与动力学理论及技术相结合的研究课题，其关键问题是在完成自身平衡的同时，还能够适应各种环境下的控制任务。本次教程我们使用Microduino产品模块快速搭建一个可以用遥控板控制的自平衡机器人小车，玩家可以迅速上手，并且看到小车运动和平衡的效果，玩家们可以在制作结束后，继续更深一步的智能控制部分的研究。 材料清单
实验原理
PID在自动控制领域有着极其重要的作用，作为最早实用化的控制技术已经有70多年的历史，近几年一些创客们自制的一些很酷的东西，如：四轴飞行器，自平衡车等等都离不开它的身影。 首先了解什么是PID。PID实指“比例proportional”、“积分integral”、“微分derivative”，如果我们要求被控制的对象最终趋于一个稳定的结果，一般就可以使用PID算法。 假设说，有一辆速度为1m/s的小车，我们要求他的速度改变为5m/s，要完成这样的一件事，我们必须要有：
本来，我们可以给小车一个驱动力让小车加速，直到检测到小车速度达到5m/s，撤去驱动力。但是，这样做会带来几个问题： 1)当小车速度达到5m/s时，从装置检测到这个速度，通知控制器，让控制器改变输出的电压，这一个过程需要耗费一定时间，在这个时间里面，小车速度可能增加了不少。 2)撤去驱动力后，外界条件如摩擦会让小车速度进一步改变。 然而，PID算法可以在一定误差内解决这些问题。 使用PID算法时，大致是这样的。每一个采样周期，通过速度检测装置获得当前速度，传入程序，通过程序计算得到电压控制小车得到新速度。下一个采样周期又把新速度传入，获得新电压，再传入速度，再获得电压，如此反复。 PID算法的关键，是如何根据当前得到的速度值，输出一个“恰当”的电压，以致小车最终能够趋于稳定。 PID算法采用比例，积分，微分(Proportion Integral Differential)三种方法进行控制。三种方法都有自己对应的一个常量(pconst，iconst，dconst)。这三个变量都需要在实验中多次尝试得出。用数学公式表达PID算法如下图所示： 此处：e = 期望值 – 输入值 平衡车之所以可以自己掌握平衡，首先通过Microduino-10DOF模块的加速度和陀螺仪测出相应的姿态数据，然后利用kalman滤波算法得出当前平衡车的角度。平衡的角度是180度，如果测出的角度偏离180，PID算法会调整输出相应的PWM值给电机，从而保持小车平衡。 PID原理有点像锅炉房里烧锅炉，首先定下来锅炉的恒定温度，比如26摄氏度，锅炉房里的墙上有一个温度计，能够实时测得锅炉的实时温度。锅炉房里通常有个老大爷时不时（每十分钟看一次）的看着墙上的温度计，如果温度高了就给锅炉降温，低了就给锅炉升温。如果让一个没有经验的年轻小伙子来管理锅炉的温度，可以想象温度表的值会上下浮动的，有经验的老大爷会把这个浮动降到最低。其实PID就是这个烧锅炉的例子，在代码中就有这个故事的影子： 1)规定的26度就是setpoint 2)当前的温度就是CurrentAngle 3)实际值与26度的偏差就是error 4)没有经验的小伙子有点像PID中的P 5)有经验的老大爷相当于PID了 6)每十分钟看一次相当于PID计算的周期时间 PID的主要代码： // PD的实施。 DT是毫秒
float stabilityPDControl(float DT, float input, float setPoint, float Kp, float Kd)
{
float error;
float output;
error = setPoint - input;
// Kd的两部分实施
//仅使用输入（传感器）的一部分而不是设定值输入（T-2）最大的一个
//而第二个使用该设定值
output = Kp * error + (Kd * (setPoint - setPointOld) - Kd * (input - PID_errorOld2)) / DT;
//Serial.print(Kd*(error-PID_errorOld));Serial.print("\t");
PID_errorOld2 = PID_errorOld;
PID_errorOld = input; // 误差为Kd值是唯一的输入组件
setPointOld = setPoint;
return(output);
}
//P控制实现。
float speedPControl(float input, float setPoint, float Kp)
{
float error;
error = setPoint - input;
return(Kp * error);
}
本套件利用陀螺仪和加速度传感器（Microduino-10DOF/zh）来检测车体态的变化，并利用步进电机控制核心（Microduino-Stepper/zh），精确地驱动电机进行相应的调整，以保持系统的平衡。
文档程序下载将Microduino-Core+与Microduino-USBTTL叠加（无上下顺序），通过USB数据线与电脑连接起来  确认你搭建了Microduino的开发环境，否则参考附录1-Arduino IDE安装指导。 打开Arduino IDE编程软件，点击 【文件】->【打开】  浏览到项目程序地址，点击“Joypad_Balance_Reception.ino”程序打开 点击“工具”，在板选项里面选择板卡（Microduino-Core+），在处理器选项里面选择处理器（Atmega644pa@16M,5V），再在端口选项里面选择正确的端口号，然后直接烧录程序 平衡车搭建
Joypad搭建
Joypad调试
在打开Joypad之后的4秒左右时间之内按下Key1(下方最左侧的按键)，会进入设置(Config)模式 
按照图中的颜色，从左至右对应为Key1~Key4  注意：必须在进入操作界面前进入（4S左右时间）。若未进入则重启进入
按动Key3和Key4使光标上下移动，Key1为返回，Key2为确认 选择第一项Joystick Config进入摇杆设置模式 继续选择Joystick Correct进入摇杆校准模式。 进入之后会显示如图中第三张图所示的界面，初始状态为两个十字 此时摇动左右摇杆至最上，最下，最左，最右四个极限状态 （推荐操作方式：将摇杆摇动一圈） 摇动之后会看到十字的四个方向出现圆圈，圆圈扩大到最大状态证明已经是摇杆的极限位置 校准之后按Key2确认并返回上一页面 
按Key1回到主界面，选择第二项Protocol Config进入模式选择 选择第一项Mode，之后选择nRF24即robot控制模式，按下Key2确认并返回
返回二级菜单，选择nRF24 Channel按下Key2确认 选择70，它是与Robot_Microduino.ino中nRF24的配置函数设置相对应的 注意问题
程序说明Joypad程序及说明Joypad_RC.ino #include "Arduino.h"
#include "def.h"
#include "time.h"
#include "bat.h"
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
#include "mpu.h"
#endif
#include "joy.h"
#include "key.h"
#include "data.h"
#include "nrf.h"
#include "mwc.h"
#include "tft.h"
#include "eep.h"
#if defined(__AVR_ATmega128RFA1__)
#include <ZigduinoRadio.h>
#endif
//joypad================================
#include <Joypad.h>
//eeprom================================
#include <EEPROM.h>
//TFT===================================
#include <Adafruit_GFX.h> // Core graphics library
#include <Adafruit_ST7735.h> // Hardware-specific
#include <SPI.h>
//rf====================================
#include <RF24Network.h>
#include <RF24.h>
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//MPU===================================
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
#endif
//spi===================================
#include <SPI.h>
void setup()
{
// initialize serial communication at 115200 bits per second:
#ifdef Serial_DEBUG
Serial.begin(115200);
delay(100);
Serial.println("========hello========");
#endif
//---------------
key_init();
//---------------
#ifdef Serial_DEBUG
Serial.println("\n\r EEPROM READ...");
#endif
eeprom_read();
//---------------
#ifdef Serial_DEBUG
Serial.println("\n\r TFT INIT...");
#endif
TFT_init(true, tft_rotation);
//---------------
#ifdef Serial_DEBUG
Serial.println("\n\r TFT BEGIN...");
#endif
TIME1 = millis();
while (millis() - TIME1 < interval_TIME1)
{
TFT_begin();
if (!Joypad.readButton(CH_SWITCH_1))
{
#ifdef Serial_DEBUG
Serial.println("\n\rCorrect IN...");
#endif
//---------------
#ifdef Serial_DEBUG
Serial.println("\n\r TFT INIT...");
#endif
TFT_init(false, tft_rotation);
while (1)
{
if (!TFT_config())
break;
}
#ifdef Serial_DEBUG
Serial.println("\n\rCorrect OUT...");
#endif
//---------------
#ifdef Serial_DEBUG
Serial.println("\n\r EEPROM WRITE...");
#endif
eeprom_write();
}
}
//---------------
#ifdef Serial_DEBUG
Serial.println("\n\r TFT CLEAR...");
#endif
TFT_clear();
//---------------
#ifdef Serial_DEBUG
Serial.println("\n\r TFT READY...");
#endif
TFT_ready();
//---------------.l
if (mode_protocol) //Robot
{
SPI.begin(); //初始化SPI总线
radio.begin();
network.begin(/*channel*/ nrf_channal, /*node address*/ this_node);
}
else //QuadCopter
{
unsigned long _channel;
#if !defined(__AVR_ATmega128RFA1__)
switch (mwc_channal)
{
case 0:
_channel = 9600;
break;
case 1:
_channel = 19200;
break;
case 2:
_channel = 38400;
break;
case 3:
_channel = 57600;
break;
case 4:
_channel = 115200;
break;
}
#else if
_channel = mwc_channal;
#endif
mwc_port.begin(_channel);
}
//---------------
#ifdef Serial_DEBUG
Serial.println("===========start===========");
#endif
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
if (mode_mpu) initMPU(); //initialize device
#endif
}
void loop()
{
// unsigned long time = millis();
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//MPU--------------------------------
if (mode_mpu)
getMPU();
#endif
//DATA_begin------------------------------
data_begin();
//DATA_send-------------------------------
if (millis() < time2) time2 = millis();
if (millis() - time2 > interval_time2)
{
if (mode_protocol) nrf_send(); //Robot
else data_send(); //QuadCopter
time2 = millis();
}
//节点查错-------------------------------
vodebug();
//BAT--------------------------------
if (time3 > millis()) time3 = millis();
if (millis() - time3 > interval_time3)
{
vobat();
time3 = millis();
}
//TFT------------------------------------
TFT_run();
//===================================
// time = millis() - time;
// Serial.println(time, DEC); //loop time
}
</cpp>
BAT.h
<source lang="cpp">
int8_t _V_bat = _V_min;
boolean mcu_voltage = true; // 5.0 or 3.3
#define _V_fix 0.2 //fix battery voltage
#define _V_math(Y) (_V_fix+((Y*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f))))
void vobat()
{
//_V_bat=10*((voltage*analogRead(PIN_bat)/1023.0f)/(33.0f/(51.0f+33.0f)));
_V_bat = _V_math(mcu_voltage ? 50 : 33);
_V_bat = constrain(_V_bat, _V_min, _V_max);
#ifdef Serial_DEBUG
Serial.print("_V_bat: ");
Serial.println(_V_bat);
#endif
}
data.h #include "Arduino.h"
byte inBuf[16];
int16_t outBuf[8] =
{
Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID, Joy_MID
};
boolean AUX[4] = {0, 0, 0, 0};
//======================================
void data_begin()
{
Joy();
if (mode_protocol) //Robot
{
if (!sw_l)
{
Joy_x = Joy_MID;
Joy_y = Joy_MID;
Joy1_x = Joy_MID;
Joy1_y = Joy_MID;
}
}
else //QuadCopter
{
if (!sw_l)
Joy_y = Joy_MID - Joy_maximum;
}
//but---------------------------------
for (uint8_t a = 0; a < 4; a++)
{
if (key_get(a, 1)) AUX[a] = !AUX[a];
}
outBuf[0] = Joy1_x;
outBuf[1] = Joy1_y;
outBuf[2] = Joy_x;
outBuf[3] = Joy_y;
outBuf[4] = map(AUX[0], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
outBuf[5] = map(AUX[1], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
outBuf[6] = map(AUX[2], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
outBuf[7] = map(AUX[3], 0, 1, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
}
def.h #include "Arduino.h"
//DEBUG-----------
#define Serial_DEBUG
//MWC-------------
uint8_t mwc_channal = 11; //RF channel
#if defined(__AVR_ATmega32U4__)
#define mwc_port Serial1 //Serial1 is D0 D1
#elif defined(__AVR_ATmega128RFA1__)
#define mwc_port ZigduinoRadio //RF
#else
#define mwc_port Serial //Serial is D0 D1
#endif
//nRF-------------
#define interval_debug 2000 //节点查错间隔
uint8_t nrf_channal = 70; //0~125
//Battery---------
#define PIN_bat A7 //BAT
#define _V_max 41 //锂电池满电电压4.2V
#define _V_min 36 //锂电池没电电压3.7V
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//MPU-------------
#define MPU_maximum 70
#endif
//Time------------
#define interval_TIME1 2000 //setup delay
#define interval_time2 40 //send interval
#define interval_time3 1000 //battery interval
eep.h #include "Arduino.h"
#include <EEPROM.h>
#define EEPROM_write(address, p) {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) EEPROM.write(address+i, pp[i]);}
#define EEPROM_read(address, p) {int i = 0; byte *pp = (byte*)&(p);for(; i < sizeof(p); i++) pp[i]=EEPROM.read(address+i);}
struct config_type
{
int16_t eeprom_correct_min[4];
int16_t eeprom_correct_max[4];
uint8_t eeprom_Joy_deadzone_val;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
boolean eeprom_mode_mpu;
#endif
boolean eeprom_mode_protocol;
uint8_t eeprom_mwc_channal;
uint8_t eeprom_nrf_channal;
boolean eeprom_tft_theme;
boolean eeprom_tft_rotation;
boolean eeprom_mcu_voltage;
};
//======================================
void eeprom_read()
{
//EEPROM读取赋值
config_type config_readback;
EEPROM_read(0, config_readback);
for (uint8_t a = 0; a < 4; a++)
{
joy_correct_min[a] = config_readback.eeprom_correct_min[a];
joy_correct_max[a] = config_readback.eeprom_correct_max[a];
}
Joy_deadzone_val = config_readback.eeprom_Joy_deadzone_val;
mode_protocol = config_readback.eeprom_mode_protocol;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
mode_mpu = config_readback.eeprom_mode_mpu;
#endif
mwc_channal = config_readback.eeprom_mwc_channal;
nrf_channal = config_readback.eeprom_nrf_channal;
tft_theme = config_readback.eeprom_tft_theme;
tft_rotation = config_readback.eeprom_tft_rotation;
mcu_voltage = config_readback.eeprom_mcu_voltage;
}
void eeprom_write()
{
// 定义结构变量config，并定义config的内容
config_type config;
for (uint8_t a = 0; a < 4; a++)
{
config.eeprom_correct_min[a] = joy_correct_min[a];
config.eeprom_correct_max[a] = joy_correct_max[a];
}
config.eeprom_Joy_deadzone_val = Joy_deadzone_val;
config.eeprom_mode_protocol = mode_protocol;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
config.eeprom_mode_mpu = mode_mpu;
#endif
config.eeprom_mwc_channal = mwc_channal;
config.eeprom_nrf_channal = nrf_channal;
config.eeprom_tft_theme = tft_theme;
config.eeprom_tft_rotation = tft_rotation;
config.eeprom_mcu_voltage = mcu_voltage;
// 变量config存储到EEPROM，地址0写入
EEPROM_write(0, config);
}
joy.h #include "Arduino.h"
#include <Joypad.h>
//Joy-------------
//1000~2000
uint8_t Joy_deadzone_val = 10;
#define Joy_s_maximum 200 //MAX 300
#define Joy_maximum 450 //MAX 500
#define Joy_MID 1500 //1500
boolean mode_mpu, mode_protocol; //{(0: 0 is mwc, 1 is nrf),(1: 0 is mpu, 1 is no mpu)}
int16_t joy_correct_max[4], joy_correct_min[4];
int16_t Joy_x, Joy_y, Joy1_x, Joy1_y;
int16_t s_lig, s_mic;
boolean Joy_sw, Joy1_sw;
boolean but1, but2, but3, but4;
boolean sw_l, sw_r;
//======================================
int16_t Joy_dead_zone(int16_t _Joy_vol)
{
if (abs(_Joy_vol) > Joy_deadzone_val)
return ((_Joy_vol > 0) ? (_Joy_vol - Joy_deadzone_val) : (_Joy_vol + Joy_deadzone_val));
else
return 0;
}
int16_t Joy_i(int16_t _Joy_i, boolean _Joy_b, int16_t _Joy_MIN, int16_t _Joy_MAX)
{
int16_t _Joy_a;
switch (_Joy_i)
{
case 0:
_Joy_a = Joy_dead_zone(Joypad.readJoystickX());
break;
case 1:
_Joy_a = Joypad.readJoystickY(); //throt
break;
case 2:
_Joy_a = Joy_dead_zone(Joypad.readJoystick1X());
break;
case 3:
_Joy_a = Joy_dead_zone(Joypad.readJoystick1Y());
break;
}
if (_Joy_b)
{
if (_Joy_a < 0)
_Joy_a = map(_Joy_a, joy_correct_min[_Joy_i], 0, _Joy_MAX, Joy_MID);
else
_Joy_a = map(_Joy_a, 0, joy_correct_max[_Joy_i], Joy_MID, _Joy_MIN);
if (_Joy_a < _Joy_MIN) _Joy_a = _Joy_MIN;
if (_Joy_a > _Joy_MAX) _Joy_a = _Joy_MAX;
}
return _Joy_a;
}
void Joy()
{
sw_l = Joypad.readButton(CH_SWITCH_L);
sw_r = Joypad.readButton(CH_SWITCH_R);
//------------------------------------
//s_lig=Joypad.readLightSensor();
//s_mic=Joypad.readMicrophone();
//------------------------------------
Joy_sw = Joypad.readButton(CH_JOYSTICK_SW);
Joy1_sw = Joypad.readButton(CH_JOYSTICK1_SW);
//------------------------------------
but1 = Joypad.readButton(CH_SWITCH_1);
but2 = Joypad.readButton(CH_SWITCH_2);
but3 = Joypad.readButton(CH_SWITCH_3);
but4 = Joypad.readButton(CH_SWITCH_4);
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
//====================================
int16_t y[3]; //MPU---------------------------------
if (mode_mpu) //MPU---------------------------------
{
for (uint8_t a = 0; a < 3; a++)
{
y[a] = ypr[a] * 180 / M_PI;
if (y[a] > MPU_maximum) y[a] = MPU_maximum;
if (y[a] < -MPU_maximum) y[a] = -MPU_maximum;
}
}
#endif
if (Joypad.readButton(CH_SWITCH_R))
{
Joy_x = Joy_i(0, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
Joy_y = Joy_i(1, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
if (mode_mpu) //MPU---------------------------------
{
Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
}
else
#endif
{
Joy1_x = Joy_i(2, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
Joy1_y = Joy_i(3, true, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
}
}
else
{
Joy_x = Joy_i(0, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
Joy_y = Joy_i(1, true, mode_protocol ? Joy_MID - Joy_s_maximum : Joy_MID - Joy_maximum, mode_protocol ? Joy_MID
+ Joy_s_maximum : Joy_MID + Joy_maximum); // Robot,QuadCopter
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
if (mode_mpu) //MPU---------------------------------
{
Joy1_x = map(y[2], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
Joy1_y = map(y[1], -MPU_maximum, MPU_maximum, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
}
else
#endif
{
Joy1_x = Joy_i(2, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
Joy1_y = Joy_i(3, true, Joy_MID - Joy_s_maximum, Joy_MID + Joy_s_maximum);
}
}
}
key.h #include "arduino.h"
uint8_t key_pin[4] = {CH_SWITCH_1, CH_SWITCH_2, CH_SWITCH_3, CH_SWITCH_4}; //按键1 2 3 4
boolean key_status[4]; //按键
boolean key_cache[4]; //检测按键松开缓存
void key_init()
{
for (uint8_t a = 0; a < 4; a++)
{
key_status[a] = LOW;
key_cache[a] = HIGH;
}
}
boolean key_get(uint8_t _key_num, boolean _key_type)
{
key_cache[_key_num] = key_status[_key_num]; //缓存作判断用
key_status[_key_num] = !Joypad.readButton(key_pin[_key_num]); //触发时
switch (_key_type)
{
case 0:
if (!key_status[_key_num] && key_cache[_key_num]) //按下松开后
return true;
else
return false;
break;
case 1:
if (key_status[_key_num] && !key_cache[_key_num]) //按下松开后
return true;
else
return false;
break;
}
}
mpu.h #if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
#include "Wire.h"
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"
MPU6050 mpu;
//MPU-------------
#define MPU_maximum 70
// MPU control/status vars
boolean dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer
// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorInt16 aa; // [x, y, z] accel sensor measurements
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector
void initMPU()
{
Wire.begin();
#ifdef Serial_DEBUG
Serial.println(F("Initializing I2C devices..."));
#endif
mpu.initialize();
// verify connection
#ifdef Serial_DEBUG
Serial.println(F("Testing device connections..."));
#endif
if (mpu.testConnection())
{
#ifdef Serial_DEBUG
Serial.println("MPU6050 connection successful");
#endif
}
#ifdef Serial_DEBUG
else
Serial.println(F("MPU6050 connection failed"));
#endif
// load and configure the DMP
#ifdef Serial_DEBUG
Serial.println(F("Initializing DMP..."));
#endif
devStatus = mpu.dmpInitialize();
// make sure it worked (returns 0 if so)
if (devStatus == 0) {
// turn on the DMP, now that it's ready
#ifdef Serial_DEBUG
Serial.println(F("Enabling DMP..."));
#endif
mpu.setDMPEnabled(true);
mpuIntStatus = mpu.getIntStatus();
// set our DMP Ready flag so the main loop() function knows it's okay to use it
// Serial.println(F("DMP ready! Waiting for first interrupt..."));
dmpReady = true;
// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();
}
else {
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
#ifdef Serial_DEBUG
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
#endif
}
}
void getMPU()
{
if (!dmpReady) return;
{
// reset interrupt flag and get INT_STATUS byte
mpuIntStatus = mpu.getIntStatus();
// get current FIFO count
fifoCount = mpu.getFIFOCount();
// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
#ifdef Serial_DEBUG
Serial.println(F("FIFO overflow!"));
#endif
// otherwise, check for DMP data ready interrupt (this should happen frequently)
}
else if (mpuIntStatus & 0x02)
{
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();
// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);
// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;
// display ypr angles in degrees
mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
//Serial.print("ypr\t");
//Serial.print(ypr[0] * 180/M_PI);
//Serial.print("\t");
//Serial.print(ypr[1] * 180/M_PI);
//Serial.print("\t");
// Serial.println(ypr[2] * 180/M_PI);
}
}
}
#endif
mwc.h #include "Arduino.h"
#if defined(__AVR_ATmega128RFA1__)
#include <ZigduinoRadio.h>
#endif
int16_t RCin[8], RCoutA[8], RCoutB[8];
int16_t p;
uint16_t read16()
{
uint16_t r = (inBuf[p++] & 0xFF);
r += (inBuf[p++] & 0xFF) << 8;
return r;
}
uint16_t t, t1, t2;
uint16_t write16(boolean a)
{
if (a)
{
t1 = outBuf[p++] >> 8;
t2 = outBuf[p - 1] - (t1 << 8);
t = t1;
}
else
t = t2;
return t;
}
typedef unsigned char byte;
byte getChecksum(byte length, byte cmd, byte mydata[])
{
//三个参数分别为： 数据长度 ， 指令代码 ， 实际数据数组
byte checksum = 0;
checksum ^= (length & 0xFF);
checksum ^= (cmd & 0xFF);
for (uint8_t i = 0; i < length; i++)
{
checksum ^= (mydata[i] & 0xFF);
}
return checksum;
}
void data_rx()
{
// s_struct_w((int*)&inBuf,16);
p = 0;
for (uint8_t i = 0; i < 8; i++)
{
RCin[i] = read16();
/*
Serial.print("RC[");
Serial.print(i+1);
Serial.print("]:");
Serial.print(inBuf[2*i],DEC);
Serial.print(",");
Serial.print(inBuf[2*i+1],DEC);
Serial.print("---");
Serial.println(RCin[i]);
*/
// delay(50); // delay in between reads for stability
}
}
void data_tx()
{
p = 0;
for (uint8_t i = 0; i < 8; i++)
{
RCoutA[i] = write16(1);
RCoutB[i] = write16(0);
/*
Serial.print("RC[");
Serial.print(i+1);
Serial.print("]:");
Serial.print(RCout[i]);
Serial.print("---");
Serial.print(RCoutA[i],DEC);
Serial.print(",");
Serial.print(RCoutB[i],DEC);
Serial.println("");
*/
// delay(50); // delay in between reads for stability
}
}
/*
if Core RF
[head,2byte,0xAA 0xBB] [type,1byte,0xCC] [data,16byte] [body,1byte(from getChecksum())]
Example:
AA BB CC 1A 01 1A 01 1A 01 2A 01 3A 01 4A 01 5A 01 6A 01 0D **
*/
void data_send()
{
data_tx();
#if !defined(__AVR_ATmega128RFA1__)
static byte buf_head[3];
buf_head[0] = 0x24;
buf_head[1] = 0x4D;
buf_head[2] = 0x3C;
#endif
#define buf_length 0x10 //16
#define buf_code 0xC8 //200
static byte buf_data[buf_length];
for (uint8_t a = 0; a < (buf_length / 2); a++)
{
buf_data[2 * a] = RCoutB[a];
buf_data[2 * a + 1] = RCoutA[a];
}
static byte buf_body;
buf_body = getChecksum(buf_length, buf_code, buf_data);
//----------------------
#if defined(__AVR_ATmega128RFA1__)
mwc_port.beginTransmission();
mwc_port.write(0xaa);
mwc_port.write(0xbb);
mwc_port.write(0xcc);
#else
for (uint8_t a = 0; a < 3; a++) {
mwc_port.write(buf_head[a]);
}
mwc_port.write(buf_length);
mwc_port.write(buf_code);
#endif
for (uint8_t a = 0; a < buf_length; a++) {
mwc_port.write(buf_data[a]);
}
mwc_port.write(buf_body);
#if defined(__AVR_ATmega128RFA1__)
mwc_port.endTransmission();
#endif
}
nrf.h #include "Arduino.h"
#include <RF24Network.h>
#include <RF24.h>
#include <SPI.h>
// nRF24L01(+) radio attached using Getting Started board
RF24 radio(9, 10); //ce,cs
RF24Network network(radio);
#define this_node 0 //设置本机ID
#define other_node 1
//--------------------------------
struct send_a //发送
{
uint32_t ms;
uint16_t rf_CH0;
uint16_t rf_CH1;
uint16_t rf_CH2;
uint16_t rf_CH3;
uint16_t rf_CH4;
uint16_t rf_CH5;
uint16_t rf_CH6;
uint16_t rf_CH7;
};
struct receive_a //接收
{
uint32_t node_ms;
};
//--------------------------------
unsigned long node_clock, node_clock_debug, node_clock_cache = 0; //节点运行时间、节点响应检查时间、节点时间缓存
//debug--------------------------
boolean node_clock_error = false; //节点响应状态
unsigned long time_debug = 0; //定时器
//======================================
void vodebug()
{
if (millis() - time_debug > interval_debug)
{
node_clock_error = boolean(node_clock == node_clock_debug); //一定时间内，节点返回的运行时间若不变则有问题
node_clock_debug = node_clock;
time_debug = millis();
}
}
void nrf_send()
{
#ifdef Serial_DEBUG
Serial.print("Sending...");
#endif
send_a sen = {
millis(), outBuf[0], outBuf[1], outBuf[2], outBuf[3], outBuf[4], outBuf[5], outBuf[6], outBuf[7]
}; //把这些数据发送出去，对应前面的发送数组
RF24NetworkHeader header(other_node);
if (network.write(header, &sen, sizeof(sen)))
{
#ifdef Serial_DEBUG
Serial.print("Is ok.");
#endif
delay(50);
network.update();
// If it's time to send a message, send it!
while ( network.available() )
{
// If so, grab it and print it out
RF24NetworkHeader header;
receive_a rec;
network.read(header, &rec, sizeof(rec));
node_clock = rec.node_ms; //运行时间赋值
}
}
#ifdef Serial_DEBUG
else
Serial.print("Is failed.");
Serial.println("");
#endif
}
tft.h #include "Arduino.h"
#include <Adafruit_GFX.h> // Core graphics library
#include <Adafruit_ST7735.h> // Hardware-specific library
#include <SPI.h>
Adafruit_ST7735 tft = Adafruit_ST7735(5, 4, -1); //cs,dc,rst
//-------字体设置，大、中、小
#define setFont_M tft.setTextSize(2)
#define setFont_S tft.setTextSize(0)
#define tft_width 128
#define tft_height 160
boolean tft_theme = false; //0 is white,1 is black
boolean tft_rotation = 1;
#define TFT_TOP ST7735_BLACK
#define TFT_BUT ST7735_WHITE
uint16_t tft_colorA = TFT_BUT;
uint16_t tft_colorB = TFT_TOP;
uint16_t tft_colorC = 0x06FF;
uint16_t tft_colorD = 0xEABF;
#define tft_bat_x 24
#define tft_bat_y 12
#define tft_bat_x_s 2
#define tft_bat_y_s 6
#define tft_font_s_height 8
#define tft_font_m_height 16
#define tft_font_l_height 24
#define _Q_x 33
#define _Q_y 36
#define _W_x 93
#define _W_y 5
#define _Q_font_x 2
#define _Q_font_y (_Q_y - 1)
int8_t tft_cache = 1;
//======================================
void TFT_clear()
{
tft.fillScreen(tft_colorB);
}
void TFT_init(boolean _init, boolean _rot)
{
tft_colorB = tft_theme ? TFT_TOP : TFT_BUT;
tft_colorA = tft_theme ? TFT_BUT : TFT_TOP;
if (_init) {
tft.initR(INITR_BLACKTAB); // initialize a ST7735S chip, black tab
// Serial.println("init");
tft.fillScreen(tft_colorB);
if (_rot)
tft.setRotation(2);
}
tft.fillRect(0, 0, tft_width, 40, tft_colorA);
tft.setTextColor(tft_colorB);
setFont_M;
tft.setCursor(26, 6);
tft.print("Joypad");
setFont_S;
tft.setCursor(32, 24);
tft.print("Microduino");
tft.fillRect(0, 40, tft_width, 120, tft_colorB);
}
void TFT_begin()
{
setFont_S;
tft.setTextColor(tft_colorA);
tft.setCursor(_Q_font_x, 44);
tft.println("[key1] enter config");
setFont_M;
tft.setCursor(4, 150);
for (uint8_t a = 0; a < (millis() - TIME1) / (interval_TIME1 / 10); a++) {
tft.print("-");
}
}
int8_t menu_num_A = 0;
int8_t menu_num_B = 0;
int8_t menu_sta = 0;
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
char *menu_str_a[5] = {
"Joystick Config", "Protocol Config", "System Config", "Gyroscope Config", "Exit"
};
#else
char *menu_str_a[4] = {
"Joystick Config", "Protocol Config", "System Config", "Exit"
};
#endif
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
char *menu_str_b[4][3] = {
{"Joystick Correct.", "Dead Zone config"},
{"Mode", "Quadrotor Channel", "nRF24 Channel"},
{"TFT Theme", "TFT Rotation", "MCU Voltage"},
{"Gyroscope OFF", "Gyroscope ON"}
};
#else
char *menu_str_b[3][3] = {
{"Joystick Correct.", "Dead Zone config"},
{"Mode", "Quadrotor Channel", "nRF24 Channel"},
{"TFT Theme", "TFT Rotation", "MCU Voltage"},
};
#endif
void TFT_menu(int8_t _num, char *_data)
{
tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
tft.setCursor(10, 54 + 15 * _num);
tft.print(_data);
}
void TFT_menu(int8_t _num, int16_t _data)
{
tft.drawRect(7, 49 + 15 * _num, 114, 16, tft_colorA);
tft.setCursor(10, 54 + 15 * _num);
tft.print(_data);
}
void TFT_cursor(int8_t _num)
{
tft.drawLine(1, 51 + 15 * _num, 4, 56 + 15 * _num, tft_colorA);
tft.drawLine(4, 57 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
tft.drawLine(1, 51 + 15 * _num, 1, 62 + 15 * _num, tft_colorA);
}
boolean return_menu = false;
boolean TFT_config()
{
tft.setTextColor( tft_colorA);
if (key_get(0, 1)) {
menu_sta --;
tft_cache = 1;
if (menu_sta <= 0)
menu_num_B = 0; //zero
}
if (key_get(1, 1)) {
if (return_menu)
menu_sta --;
else
menu_sta ++;
tft_cache = 1;
}
if (menu_sta > 2)
menu_sta = 2;
if (menu_sta < 0)
menu_sta = 0;
return_menu = false;
//-------------------------------
if (tft_cache)
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
if (menu_sta == 2) {
switch (menu_num_A) {
case 0: {
switch (menu_num_B) {
case 0: {
if (tft_cache)
{
for (uint8_t a = 0; a < 4; a++)
{
joy_correct_min[a] = 0;
joy_correct_max[a] = 0;
}
}
for (uint8_t a = 0; a < 4; a++) {
tft.setCursor(2, 120);
tft.print("Move Joystick MaxGear");
int16_t _c = Joy_i(a, false, Joy_MID - Joy_maximum, Joy_MID + Joy_maximum);
if (_c > joy_correct_max[a]) {
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
joy_correct_max[a] = _c;
}
// joy_correct_max[a] = constrain(joy_correct_max[a], 0, Joy_maximum);
if (_c < joy_correct_min[a]) {
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
joy_correct_min[a] = _c;
}
// joy_correct_min[a] = constrain(joy_correct_min[a], -Joy_maximum, 0);
}
for (uint8_t d = 0; d < 2; d++) {
tft.drawFastHLine(12 + 70 * d, 80, 33, tft_colorA);
tft.drawFastVLine(28 + 70 * d, 64, 33, tft_colorA);
// tft.fillRect(2, 90-4, 20, 12, tft_colorB);
tft.drawCircle(44 + 70 * d, 80, map(joy_correct_min[0 + 2 * d], 0, -512, 1, 10), tft_colorA);
tft.drawCircle(12 + 70 * d, 80, map(joy_correct_max[0 + 2 * d], 0, 512, 1, 10), tft_colorA);
tft.drawCircle(28 + 70 * d, 64, map(joy_correct_min[1 + 2 * d], 0, -512, 1, 10), tft_colorA);
tft.drawCircle(28 + 70 * d, 96, map(joy_correct_max[1 + 2 * d], 0, 512, 1, 10), tft_colorA);
}
return_menu = true;
}
break;
case 1: {
if (key_get(2, 1)) {
Joy_deadzone_val--;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
if (key_get(3, 1)) {
Joy_deadzone_val++;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
Joy_deadzone_val = constrain(Joy_deadzone_val, 0, 25);
TFT_menu(0, Joy_deadzone_val);
TFT_cursor(0);
return_menu = true;
}
break;
}
}
break;
case 1: {
switch (menu_num_B) {
case 0: {
char *menu_str_c[2] = { "Quadro.", "nRF24"};
if (key_get(2, 1) || key_get(3, 1)) {
mode_protocol = !mode_protocol;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
for (uint8_t c = 0; c < 2; c++) {
TFT_menu(c, menu_str_c[c]);
}
TFT_cursor(mode_protocol);
return_menu = true;
}
break;
case 1: {
#if !defined(__AVR_ATmega128RFA1__)
char *menu_str_c[5] = {"9600", "19200", "38400", "57600", "115200"};
#endif
if (key_get(2, 1)) {
mwc_channal--;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
if (key_get(3, 1)) {
mwc_channal++;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
#if !defined(__AVR_ATmega128RFA1__)
mwc_channal = constrain(mwc_channal, 0, 4);
TFT_menu(0, menu_str_c[mwc_channal]);
#else
mwc_channal = constrain(mwc_channal, 11, 26);
TFT_menu(0, mwc_channal);
#endif
TFT_cursor(0);
return_menu = true;
}
break;
case 2: {
if (key_get(2, 1)) {
nrf_channal--;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
if (key_get(3, 1)) {
nrf_channal++;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
nrf_channal = constrain(nrf_channal, 0, 125);
TFT_menu(0, nrf_channal);
TFT_cursor(0);
return_menu = true;
}
break;
}
}
break;
case 2: {
switch (menu_num_B) {
case 0: {
tft_theme = !tft_theme;
TFT_init(true, tft_rotation);
tft_cache = 1;
tft.setTextColor(tft_colorA);
menu_sta --;
}
break;
case 1: {
tft_rotation = !tft_rotation;
TFT_init(true, tft_rotation);
tft_cache = 1;
tft.setTextColor(tft_colorA);
menu_sta --;
}
break;
case 2: {
char *menu_str_c[2] = { "3.3V", "5.0V"};
return_menu = true;
if (key_get(2, 1) || key_get(3, 1)) {
mcu_voltage = !mcu_voltage;
tft.fillRect(0, 40, tft_width, 100, tft_colorB);
}
TFT_cursor(mcu_voltage);
for (uint8_t c = 0; c < 2; c++) {
TFT_menu(c, menu_str_c[c]);
}
// tft.fillRect(0, 40, tft_width, 100,tft_colorB);
}
break;
}
}
break;
#if !(defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__))
case 3: { //mpu
mode_mpu = menu_num_B;
tft_cache = 1;
menu_sta = 0; //back main menu
menu_num_B = 0; //zero
}
break;
#endif
}
}
/*
Serial.print(menu_sta);
Serial.print(",");
Serial.print(menu_num_A);
Serial.print(",");
Serial.println(menu_num_B);
*/
//----------------------------
if (menu_sta == 1) {
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
int8_t meun_b_max[5] = {1, 2, 2, 1, 0};
#else
int8_t meun_b_max[4] = {1, 2, 2, 0};
#endif
if (!meun_b_max[menu_num_A])
return false;
else {
if (key_get(2, 1)) {
tft.fillRect(0, 40, 5, 100, tft_colorB);
menu_num_B--;
}
if (key_get(3, 1)) {
tft.fillRect(0, 40, 5, 100, tft_colorB);
menu_num_B++;
}
menu_num_B = constrain(menu_num_B, 0, meun_b_max[menu_num_A]);
TFT_cursor(menu_num_B);
if (tft_cache) {
for (uint8_t b = 0; b < (meun_b_max[menu_num_A] + 1); b++) {
TFT_menu(b, menu_str_b[menu_num_A][b]);
}
}
}
}
//main menu
if (menu_sta == 0) {
//custer
if (key_get(2, 1)) {
tft.fillRect(0, 40, 5, 100, tft_colorB);
menu_num_A--;
}
if (key_get(3, 1)) {
tft.fillRect(0, 40, 5, 100, tft_colorB);
menu_num_A++;
}
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
menu_num_A = constrain(menu_num_A, 0, 4);
#else
menu_num_A = constrain(menu_num_A, 0, 3);
#endif
TFT_cursor(menu_num_A);
if (tft_cache) {
#if defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega128RFA1__)
for (uint8_t a = 0; a < 5; a++) {
#else
for (uint8_t a = 0; a < 4; a++) {
#endif
TFT_menu(a, menu_str_a[a]);
}
}
}
if (tft_cache) {
//BACK
tft.fillCircle(12, 149, 8, tft_colorA);
tft.drawLine(11, 145, 7, 149, tft_colorB);
tft.drawLine(7, 149, 11, 153, tft_colorB);
tft.drawLine(7, 149, 17, 149, tft_colorB);
//ENTER
tft.fillCircle(12 + 20, 149, 8, tft_colorA);
tft.drawLine(10 + 20, 146, 7 + 20, 149, tft_colorB);
tft.drawLine(7 + 20, 149, 10 + 20, 152, tft_colorB);
tft.drawLine(7 + 20, 149, 15 + 20, 149, tft_colorB);
tft.drawLine(15 + 20, 146, 15 + 20, 149, tft_colorB);
//PREV
tft.fillCircle(127 - 12, 149, 8, tft_colorA);
tft.drawLine(127 - 12, 153, 127 - 8, 149, tft_colorB);
tft.drawLine(127 - 12, 153, 127 - 16, 149, tft_colorB);
tft.drawLine(127 - 12, 153, 127 - 12, 145, tft_colorB);
//NEXT
tft.fillCircle(127 - 32, 149, 8, tft_colorA);
tft.drawLine(127 - 32, 145, 127 - 28, 149, tft_colorB);
tft.drawLine(127 - 32, 145, 127 - 36, 149, tft_colorB);
tft.drawLine(127 - 32, 145, 127 - 32, 153, tft_colorB);
}
tft_cache --;
if (tft_cache < 0) tft_cache = 0;
return true;
}
//------------------
#define _C_x_S (_Q_x + 1)
#define _C_x_M (_Q_x + ((_W_x + 1) / 2))
#define _C_x_E (_Q_x + _W_x - 1)
char *NAME[8] = {
"ROLL", "PITCH", "YAW", "THROT", "AUX1", "AUX2", "AUX3", "AUX4"
};
void TFT_ready()
{
tft.fillRect(0, 0, 128, 26, tft_colorA);
tft.drawRect(tft_width - tft_bat_x - tft_bat_x_s - 2, 2, tft_bat_x, tft_bat_y, tft_colorB);
tft.drawRect(tft_width - tft_bat_x_s - 2, 2 + (tft_bat_y - tft_bat_y_s) / 2, tft_bat_x_s, tft_bat_y_s, tft_colorB);
tft.setTextColor(tft_colorB);
setFont_S;
tft.setCursor(_Q_font_x, 3);
tft.print(mode_protocol ? "nRF24" : "Quadr");
tft.print(" CHAN.");
tft.print(mode_protocol ? nrf_channal : mwc_channal);
tft.setCursor(_Q_font_x, 16);
tft.print("Time:");
tft.setTextColor(tft_colorA);
for (uint8_t a = 0; a < 8; a++) {
tft.setCursor(_Q_font_x, _Q_font_y + a * 15);
tft.print(NAME[a]);
//------------------------------------------
tft.drawRect(_Q_x, _Q_y + a * 15, _W_x, _W_y, tft_colorA);
}
}
boolean _a = false, _b = false;
void TFT_run()
{
if (outBuf[3] > (Joy_MID - Joy_maximum)) {
if (_a) {
Joy_time[0] = millis() - Joy_time[1];
_a = false;
}
Joy_time[1] = millis() - Joy_time[0];
}
else
_a = true;
if (!_b && ((Joy_time[1] / 1000) % 2)) {
_b = !_b;
tft.fillRect(_Q_font_x + 30, 16, 50, 7, tft_colorA);
tft.setTextColor(tft_colorB);
tft.setCursor(_Q_font_x + 30, 16);
tft.print((Joy_time[1] / 1000) / 60);
tft.print("m");
tft.print((Joy_time[1] / 1000) % 60);
tft.print("s");
}
_b = boolean((Joy_time[1] / 1000) % 2);
//battery------------------
tft.fillRect(tft_width - tft_bat_x - 3, 3, map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2) , tft_bat_y - 2, tft_colorB);
tft.fillRect(tft_width - tft_bat_x - 3 +
map(_V_bat, _V_min, _V_max, 0, tft_bat_x - 2), 3, map(_V_bat, _V_min, _V_max, tft_bat_x - 2, 0) , tft_bat_y - 2, tft_colorA);
for (uint8_t a = 0; a < 8; a++) {
int8_t _C_x_A0, _C_x_B0, _C_x_A, _C_x_B, _C_x_A1, _C_x_B1;
int8_t _C_x;
if (outBuf[a] < Joy_MID) {
_C_x = map(outBuf[a], Joy_MID - Joy_maximum, Joy_MID, _C_x_S, _C_x_M);
_C_x_A0 = _C_x_S;
_C_x_B0 = _C_x - _C_x_S;
_C_x_A = _C_x;
_C_x_B = _C_x_M - _C_x;
_C_x_A1 = _C_x_M;
_C_x_B1 = _C_x_E - _C_x_M;
} else if (outBuf[a] > Joy_MID) {
_C_x = map(outBuf[a], Joy_MID, Joy_MID + Joy_maximum, _C_x_M, _C_x_E);
_C_x_A0 = _C_x_S;
_C_x_B0 = _C_x_M - _C_x_S;
_C_x_A = _C_x_M;
_C_x_B = _C_x - _C_x_M;
_C_x_A1 = _C_x;
_C_x_B1 = _C_x_E - _C_x;
} else {
_C_x_A0 = _C_x_S;
_C_x_B0 = _C_x_M - _C_x_S;
_C_x_A = _C_x_M;
_C_x_B = 0;
_C_x_A1 = _C_x_M;
_C_x_B1 = _C_x_E - _C_x_M;
}
tft.fillRect(_C_x_A0, _Q_y + a * 15 + 1, _C_x_B0, _W_y - 2, tft_colorB);
tft.fillRect(_C_x_A, _Q_y + a * 15 + 1, _C_x_B, _W_y - 2, tft_colorC);
tft.fillRect(_C_x_A1, _Q_y + a * 15 + 1, _C_x_B1, _W_y - 2, tft_colorB);
tft.fillRect(_C_x_M, _Q_y + a * 15 - 1, 1, _W_y + 2, tft_colorD);
}
//netsta------------------
tft.fillRect(0, 158, 128, 2, node_clock_error ? tft_colorD : tft_colorC);
}
time.h #include "Arduino.h"
//unsigned long time;
unsigned long TIME1; //setup delay
unsigned long time2; //send data
unsigned long time3; //battery
unsigned long Joy_time[2] = {0, 0}; //joy
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