Elegoo Smart Robot Car 3.0 Plus
IAV, 20210106 - Elegoo Smart Robot Car 3.0 plus (with an Arduino "UNO") + 2x NRF24L01 modules + 2x YL-105
Some URLs, manuals, tutorials :
- Lifetime support :
info@elegoo.com /
euservice@elegoo.com /
Reddit
3dp@elegoo.com - ELEGOO Smart Robot Car Kit V3.0 Plus tutorial :
2021.01.29.zip
github -> ElegooCarV3.zip
download.elegoo selecting "series := Robot Kits" and "Model := Smart Robot Car Kit V3.0 Plus"
-> ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31.zip {171 MB} - User manual : (EN) 20200116.pdf
minie : /home/sebas/dades/elegoo/ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31 - Extended Projects You Can Make Your Own
- Arduino IDE for Linux : Google drive -> Arduino-1.8.12-linux.zip
- Good videos by Paul McWhorter uTube {***} -
also in HTML :
robotics, or
L298N
- Compte : v 4 tutorial
- robotCar - assemble, SR04, servo, L298, ..
contingut
- tires - 4 pcs
- DC motor - 4 pcs
- remote control - 1 pc
- USB cable type B - 1 pc
- USB cable type micro - 1 pc
- cell box - 1 pc {only used by servos}
- dead plate - 1 pc
- cable pack - 1 pc
- servo fasten plate (not for assembly) - 1 pc
- screw pack - 6 pcs
- screwdriver - 3 pcs
- insulation tape - 1 pc
- Arduino UNO - 1 pc
- L298N dual H-bridge - 1 pc
- HC-SR04 ultrasonic sensor module - 1 pc
- ultrasonic sensor module holder and SG90 micro servo - 1 pc
- DX-BT16 bluetooth module - 1 pc
- IO expansion board / car shield - 1 pc
- line tracking module - 1 pc
The expansion board uses XH2.54 interfaces
The USB-micro port is used to charge the battery
Battery status indicator : lights up in green during charging,
will turn off once the battery is fully charged.
The USB-B type port is used for uploading programs from PC
ELEGOO parts description
- L298N dual H-bridge motor driver - Arduino tutorial, Arduino tutorial
- HC-SR04 - ultrasonic sensor module - description
- SG90 - micro servo : TiendaTec
- DX-BT16 bluetooth UART module
Important : bluetooth module and uploading of programs from PC
When uploading a program from PC to Arduino, unplug the bluetooth module first.
DX-BT16 communicates with UNO through the RX/TX pin on the shield.
If bluetooth is connected, the "upload" operation at Arduino IDE v2 produces :
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 1 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 2 of 10: not in sync: resp=0x00
avrdude: stk500_recv(): programmer is not responding
avrdude: stk500_getsync() attempt 3 of 10: not in sync: resp=0x00
User abort
Solucio : desconectar USB i reconectar !
cor del sistema : Arduino UNO R3 board
Em falten les especs del Arduino "UNO" -> here {ext}
The Elegoo UNO is a microcontroller board based on the ATmega328.
It has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs,
a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button.
Te un LED verd conectat al pin digital 13, que es fa servir per fer "Blink"
Robot Car IO pin connection table
Veure el detall de la placa I/O
Valor comprovats en el meu :
#define LED_Pin 13 /* LED verd */
#define RECV_PIN 12 /* Arduino pin connected to the IR Receiver */
#define IR_RECEIVE_PIN 12
#define ECHO_PIN A4 /* Arduino pins connected to the Ultrasonic sensor module */
#define TRIG_PIN A5
#define ENA 5 /* Arduino pins connected to the Motor drive module */
#define ENB 6 /* ENA = left motor, ENB = right motor */
/* error al esquema : hi posa ENA 6 ; ENB 5 */
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define LineTeacking_Pin_Right 10 /* Arduino pins connected to the IR line tracking module */
#define LineTeacking_Pin_Middle 4
#define LineTeacking_Pin_Left 2
#define PIN_Servo 3 /* SG90 servo */
sensor ultrasonic SR04
HC-SR04 provides 2 cm - 400 cm non-contact measurement with an accuracy of 3 mm. This module consists of an ultrasonic transmitter, a receiver, and the control circuit.
SR04.zip library from robotCar
Codi minim SR04 :
#include "SR04.h"
#define TRIG_PIN A5 // see IO pin table
#define ECHO_PIN A4
SR04 sr04 = SR04(ECHO_PIN,TRIG_PIN);
long a;
void InitSerial(void)
{
Serial.begin(115200) ; // init serial
while (!Serial) ; // wait for Serial to become available
delay(4000) ; // to be able to connect Serial Monitor after reset or power up and before first print out
} // InitSerial()
void setup() {
InitSerial() ;
Serial.println( "*** SR04 setup ***" ) ;
}
void loop() {
a=sr04.Distance();
Serial.print(a);
Serial.println("cm");
delay(1000);
}
per moure el sistema ultrasonic : SG90 micro servo
Les operacions habituals son :
myservo.attach( 3 ) ; // servo.attach(pin)
myservo.attach( 3, 700, 2500 ) ; // servo.attach(pin, min, max)
myservo.write( 90 ) ; // angle: the value to write to the servo, from 0 to 180 - arduino.cc
Per exemple, per esborrar el programa anterior i deixar el robot aturat, podem fer :
// 0_set_to_center_position
// posicio de "descans" del robot
// posem el servo mirant endevant
// despres de posar-lo a l'esquerra, per a que hi hagi un moviment minim
// despres, el mourem a la dreta i de volta per cada caracter que envii el Serial Monitor
#include <Servo.h>
Servo myServo ;
int iRC = 0 ;
int myFlop(int x, int y) {
int flopRC = 0 ;
myServo.write(x); // 0 = move servos to the right
delay(1000);
myServo.write(y); // 90 = move servos to center position -> 90°
return flopRC;
}
void setup(){
Serial.begin(115200);
while (!Serial) ; // wait for Serial to become available.
delay(4000); // to be able to connect Serial Monitor after reset or power up and before first print out.
Serial.println("*** servo center IR v 1.b setup.");
myServo.attach(3);
iRC = myFlop( 180, 90 ) ;
}
void loop(){
Serial.println("*** servo center IR v 1.b loop ***");
if ( Serial.available() > 0 ) {
char c = Serial.read() ;
Serial.print("+++ got ");
Serial.println(c);
iRC = myFlop( 0, 90 ) ;
}
delay(1000);
}
Codi minim SG90, servo q mou el sistema de ultrasons :
#include <Servo.h>
Servo myservo; // create servo object to control a servo ; 12 servo objects can be created on most boards
int pos = 0; // variable to store the servo position
void setup() {
myservo.attach(3); // attach the servo on pin 3 to the servo object
}
void loop() {
for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees (in steps of 1 degree)
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // wait 15 ms for the servo to reach the position
}
for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
myservo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // wait 15 ms for the servo to reach the position
}
}
L298 per moure les rodes
The robot consists of 4 DC motors driven by a H-bridge with dual output, connecting the two left wheels and the two right ones to its outputs.
The robot car kit uses L298 Dual H-Bridge Motor Driver module (datasheet) to control the DC motors on the car.
Les dues rodes de cada cantó van sempre juntes ...
Taula per determinar la direcció i els girs :
car left wheels right wheels IN1 IN2 IN3 IN4
F F F 1 0 0 1
B B B 0 1 1 0
right F B 1 0 1 0
left B F 0 1 0 1
stop stop stop 0 0 0 0
1 1 1 1
Codi minim L298, H-bridge per moure les rodes :
#define ENA=6;
#define ENB=5;
#define N1=7;
#define N2=8;
#define N3=9;
#define N4=11;
#define carSpeed 200 //
void forward(){
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("Forward ");
}
void setup(){
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
pinMode(N1,OUTPUT);
pinMode(N2,OUTPUT);
pinMode(N3,OUTPUT);
pinMode(N4,OUTPUT);
analogWrite(ENA, carSpeed) ; // the PWM value is 0~255, 0 means always OFF, 255 means always ON.
analogWrite(ENB, carSpeed) ;
digitalWrite(ENA,HIGH); // enable left motor
digitalWrite(ENB,HIGH); // enable right motor
}
void loop(){
digitalWrite(N1,HIGH); // forward
digitalWrite(N2,LOW);
digitalWrite(N3,LOW);
digitalWrite(N4,HIGH);
}
dcMotor_1.txt from robotCar
assembly sequence
- line tracking module - 4 screws at front
- L298N dual H-bridge motor driver - heat sink in opposite direction of front
- 4 motors
- UNO R3 board
- I/O expansion board
- bluetooth module
- cell box or lithium battery
- HC-SR04 ultrasonic sensor module and SG90 micro servo - 2 "eyes" on front and servo that moves it
startup problems
Solved by euservice@elegoo.com
car goes backward when pushing "forward" button
Problem is caused by the L298N module, mounted reversed
car does not move when starting "obstacle avoidance" mode, key "2"
I think it’s the problem of the main code. Please download the tutorial following these steps :
- access support files
- on the left you select "Robot Kits"
- select "ELEGOO Smart Robot Car Kit V3.0 Plus
- unzip "ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31.zip" file
Please refer to lesson 0 to install Arduino IDE on your computer. It will teach you how to upload code to the robot car.
Please refer to lesson 3 to add the IRremote library into Arduino IDE {***}.
Then upload the SmartCar_Core_20201211.ino code file in lesson 6 to the robot car. The latest code would help you solve the problem.
built-in provided programs
We have already uploaded programs into the smart robot : see SmartCar_Core_20201211.ino under folder "Lesson 6 SmartCar Multi function"
If you want to modify the code and upload to the car again, please refer to the tutorial from
http://www.elegoo.com/download 
When uploading codes (from PC), please remove the bluetooth module from the expansion board, because the serial port for uploading codes and bluetooth communication use the same RX/TX pin and there will be conflicts. You can mount the bluetooth module again after the upload.
Functions
There are 4 modes of Elegoo Smart Robot Car, which are :
- bluetooth mode
- IR - remote control mode
- line tracking mode - key #1
- obstacle avoidance mode - key #2
How do you select the Smart Robot Car mode ?
control the Smart Robot Car using the IR Remote
User manual, page 22 :
- upload into the car the file "Infrared_remote_control_car.ino"
located at "/home/sebas/dades/elegoo/ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31/English/Lesson 3 Infrared Remote Control Car/Infrared_remote_control_car"
if "compilation error : IRremote.h no such file", then
github# IRremote Arduino Library This library enables you to send and receive using infra-red signals on an Arduino. ## Version - 2.1.0 ## Installation 1. Navigate to the [Releases] page : https://github.com/z3t0/Arduino-IRremote/releases 2. Download the latest release. 3. Extract the zip file 4. Move the "IRremote" folder that has been extracted to your libraries directory. 5. Make sure to delete Arduino_Root/libraries/RobotIRremote. "Arduino_Root" refers to the install directory of Arduino. The library RobotIRremote has similar definitions to IRremote and causes errors.
Or better /home/sebas/dades/elegoo/ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31/English/Lesson 3 Infrared Remote Control Car/Lesson 3 Infrared remote control car.pdf -> IRremote.zip- IDE -> Sketch -> Include Library -> Add .ZIP Library
- find IRremote.zip
- restart IDE
Missatge interessant :
990 -> IR blink v 1.a setup. 118 -> Thank you for using the IRremote library! 150 -> It seems, that you are using a old version 2.0 code / example. 215 -> This version is no longer supported! 246 -> Please use one of the new code examples from the library, 310 -> available at "File > Examples > Examples from Custom Libraries / IRremote", 406 -> Or downgrade your library to version 2.6.0. 438 -> Start with the SimpleReceiver or SimpleSender example. 503 -> The examples are documented here: 535 -> https://github.com/Arduino-IRremote/Arduino-IRremote#examples-for-this-library 631 -> A guide how to convert your 2.0 program is here: 695 -> https://github.com/Arduino-IRremote/Arduino-IRremote#converting-your-2x-program-to-the-4x-version 791 -> Thanks
M'agradaria saber de on surt ... on es el font del texte ...
Conversió de versió 2 a versió 4 :
- IRreceiver and IRsender object have been added and can be used without defining them, like the well known Arduino Serial object.
- Just remove the line IRrecv IrReceiver(IR_RECEIVE_PIN); and/or IRsend IrSender; in your program.
Replace all occurrences of IRrecv. or irrecv. with IrReceiver and replace all IRsend or irsend with IrSender. - Since the decoded values are now in IrReceiver.decodedIRData and not in results any more, remove the line decode_results results or similar.
- Like for the Serial object,
call IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK) or IrReceiver.begin(IR_RECEIVE_PIN, DISABLE_LED_FEEDBACK)
instead of the IrReceiver.enableIRIn() or irrecv.enableIRIn() in setup().
For sending, call IrSender.begin(); in setup().
If IR_SEND_PIN is not defined (before the line #include <IRremote.hpp>) you must use e.g. IrSender.begin(3, ENABLE_LED_FEEDBACK, USE_DEFAULT_FEEDBACK_LED_PIN); - Old decode(decode_results *aResults) function is replaced by simple decode().
So if you have a statement if (irrecv.decode(&results)) replace it with if (IrReceiver.decode()).
- The decoded result is now in in IrReceiver.decodedIRData and not in results any more. Therefore replace any occurrences of results.value and results.decode_type (and similar) to IrReceiver.decodedIRData.decodedRawData and IrReceiver.decodedIRData.protocol.
Resum de canvis a fer :
remove IRrecv IrReceiver(IR_RECEIVE_PIN)
remove IRsend
remove IrSender
replace IRrecv. with IrReceiver.
replace irrecv. with IrReceiver. // irrecv.resume(); -> IrReceiver.resume(); // enable receiving next value
replace IRsend with IrSender
replace irsend with IrSender
remove decode_results results
replace in setup() IrReceiver.enableIRIn() with IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK) or IrReceiver.begin(IR_RECEIVE_PIN, DISABLE_LED_FEEDBACK)
replace in setup() irrecv.enableIRIn() with IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK) or IrReceiver.begin(IR_RECEIVE_PIN, DISABLE_LED_FEEDBACK)
insert in setup IrSender.begin()
replace if(irrecv.decode(&results)) with if(IrReceiver.decode())
replace results.value with IrReceiver.decodedIRData.decodedRawData
replace results.decode_type with IrReceiver.decodedIRData.protocol
Determina els codis de les tecles (using "Infrared_remote_control_car.ino") :
up 3108437760
left 3141861120
down 3927310080
right 3158572800
OK 3208707840
(*) 3175284480
(#) 3041591040
Codi minim IR :
#include <IRremote.hpp>
#define IR_RECEIVE_PIN 12 // Elegoo Smart Robot Car 3.0 Plus - see IO pin table
// https://github.com/Arduino-IRremote/Arduino-IRremote#converting-your-2x-program-to-the-4x-version
void InitSerial(void)
{
Serial.begin(115200) ; // init serial
while (!Serial) ; // wait for Serial to become available
delay(4000) ; // to be able to connect Serial Monitor after reset or power up and before first print out
} // InitSerial()
void setup() {
InitSerial() ;
Serial.println("*** IR code v 1.a setup ***");
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
stop();
// Just to know which program is running on my Arduino
Serial.println( "START " __FILE__ " from " __DATE__ "\r\nUsing library version " VERSION_IRREMOTE );
// irrecv.enableIRIn(); // old code
IrReceiver.begin(IR_RECEIVE_PIN, ENABLE_LED_FEEDBACK); // start the receiver, new code
Serial.println("IR code v 1.a enabled");
Serial.print( "Ready to receive IR signals of protocols: " );
printActiveIRProtocols(&Serial);
delay(4000); // to display a clean list
}
void loop() {
Serial.println("*** IR code v 1.a loop.");
if (IrReceiver.decode()) {
Serial.println(IrReceiver.decodedIRData.decodedRawData, HEX); // Print "old" raw data
IrReceiver.printIRResultShort(&Serial); // Print complete received data in one line
IrReceiver.printIRSendUsage(&Serial); // Print the statement required to send this data
// ...
IrReceiver.resume(); // Enable receiving of the next value
}
delay(1000) ; // wait 1 sec
}
Provides a list of supported protocols :
NEC/MEC2/Onkyo/Apple, Panasonic/Kassikye, Denon/Sharp, Sony, RCS, ACB, LG, JVC, Samsung, FAST, Mhynter,
Lego Power Functions, Bosewave, RagiQuest, Universal Pulse Distance Width, Hash
Nice video : IR by Paul McWhorter - uses IRremote v.2.2.3 de'n "shirriff"
Un altre : DroneBot
control the Smart Robot with the Bluetooth APP
Al robot s'hi ha de posar "SmartCar_Core_20210127.ino" !!!
Jo nomes tinc "SmartCar_Core_20201211.ino"
Get it here !!
Also, user manual, page 24
- download "Elegoo BLE Tool" APP from APP Store in Google Play -> now called "ElegooKit"
the BLE tool is procided in the (E-SRCK V3.0 Plus 2020.12.31) zip file, as "ElegooBleTool_32.apk" - open "ElegooKit" APP
- click the top left corner icon (four squares) to enter the robots list
- scroll down and select "Smart Robot Car Kit v3.0 Plus" to enter the control page
- tap the "bluetooth" icon (first of two icons on top right corner) to enter the bluetooth searching interface
- put you phone close to the Smart Robot Car (within 10 cm) - the APP will connect automatically to the Smart Robot Car
- "Rocker Control panel" :
- a) rocker control - rodona a l'esquerra
- b) stand by mode - boto quadrat baix al mig
- c) obstacle-avoidance mode - barra inclinada, a l'esquerra
- d) line-trancking mode - barra inclinada, a la dreta
20241114 - wrong robot (V4 selected) Unable to connect the device. Plase make sure the phone is connected to the wifi provided by the device.
mono-io-layer-error(113)
tracking mode
Apply the black tape on a light-colored surface to make a runway,
press the "1" button on the remote control, and the car will enter the Line Tracking Mode
and will move along the runway.
Press "OK" button to stop the movement.
obstacle avoidance mode
Press "2" button, and the car will enter the obstacle avoidance mode and automatically move forward. When there are obstacles within 25 cm ahead, the car will automatically turn and choose another way
coding
See Elegoo Smart Robot Car Kit V3.0 Plus2020.12.31.zip, from download , then Arduino related products (support files) + "Robot kits" - url : //mars/home/nicolau/sebas/elegoo/'ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31.zip'
- send and receive infrared signals with multiple protocols
- this library can control a great number of servos
- sweep.ino - by Barragan , modified by Scott Fitzgerald
They use "Arduino-1.8.12-linux.zip"
lets connect the car to the PC
- open Arduino IDE
- connect the Development board to PC with USB
- open the directory where the AUTO_GO sketch is located :
nicolau@mars:~/sebas/elegoo/Lesson 1 Make The Car Move/AUTO_GO$ ls -al 2259 Oct 27 10:51 AUTO_GO.ino
- select the Arduino UNO board : "Tools" + "Board" + "Arduino UNO" - on IDE we see (bottom right)
Arduino UNO on /dev/ttyUSB0
- compile AUTO_GO to verify libraries : "Sketch" + "Verify/Compile" - on IDE we see (bottom left)
Done compiling
- important parameter : IDE + "Tools" + "Port" ... must be
- "/dev/ttyUSB0" for Arduino "NANO"
- "/dev/ttyACM0" for Arduino "UNO" (the Elegoo robot)
*** El IDE del Arduino sota Ubuntu "Mars" no es conecta al Arduino UNO, pero si sota Windows o Linux Minie ***
El xip USB pel UNO del Elegoo és un "Holtek HT42B534-2" en lloc del habiutual "CH341" - arduino UNO at MARS
com programar el Elegoo des Ubuntu
- conectem el Arduino "NANO" al USB 2.0
- amb el IDE, carreguem "File -> Examples -> 01.Basics -> Blink" al "NANO" i verifiquem que funciona
- desconectem el "NANO" i hi posem el "UNO", el robot
- comprovem que desapareix "/dev/ttyUSB0"
- al IDE, escollim el port "/dev/ttyACM0"
- carreguem el programa al Arduino des el IDE i comprovem que funciona
programs to test all robot parts
posicionar el servo el centre i res mes
Aquest es el codi que deixarem al Arduino quan no tingui "res" mes
No volem pas que es "desperti" i comenci a fer coses, oi ?
nicolau@mars:~$ cat /home/nicolau/Arduino/my_code/set_to_center_position/set_to_center_position.ino
sebas@minie:~$ cat /home/sebas/dades/elegoo/codi/0_set_to_enter_position/0_set_to_center_position.ino
// www.elegoo.com
// posicio de "descans" del robot
// posem el servo mirant endevant ...
// ... despres de posar-lo a la dreta, per a que hi hagi un moviment minim
#include <Servo.h>
Servo myservo;
void setup(){
myservo.attach(3);
myservo.write(0); // move servos to the right
delay(1000);
myservo.write(90); // move servos to center position -> 90°
}
void loop(){
}
posicionar el servo a 0-90-180 graus en bucle
nicolau@mars:~$ cat /home/nicolau/sebas/elegoo/codi/1_posiciona_servo_0_90_180/1_posiciona_servo_0_90_180.ino
sebas@minie:~$ cat /home/sebas/dades/elegoo/codi/1_posiciona_servo_0_90_180/1_posiciona_servo_0_90_180.ino
// https://dronebotworkshop.com/elegoo-robot-car-part-3/
#include <Servo.h>
Servo myservo;
void setup(){
myservo.attach(3);
}
void loop(){
myservo.write(90); // move servos to center position -> 90°
delay(1000);
myservo.write(180);
delay(1000);
myservo.write(90);
delay(1000);
myservo.write(0);
delay(1000);
}
posicionar el servo de 0 a 180 graus de un en un i en bucle
nicolau@mars:~$ cat /home/nicolau/sebas/elegoo/codi/2_gira_servo_180_graus_de_1_en_1/2_gira_servo_180_graus_de_1_en_1.ino
sebas@minie:~$ cat /home/sebas/dades/elegoo/codi/2_gira_servo_180_graus_de_1_en_1/2_gira_servo_180_graus_de_1_en_1.ino
// https://community.particle.io/t/servo-h-library-included-with-arduino-solved/1209/3
#include <Servo.h>
Servo myservo ; // create servo object to control a servo
// pins for the HC-SR04 ultrasonic sensor
int Echo = A4 ;
int Trig = A5 ;
// constants to control the L298N H-Bridge
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
// user vars :
int pos = 0 ; // store the servo position
int iDelay = 15 ; // set global delay
// ===
void InitSerial(void)
{
Serial.begin(115200) ; // init serial
while (!Serial) ; // wait for Serial to become available
delay(4000) ; // to be able to connect Serial Monitor after reset or power up and before first print out
} // InitSerial()
void setup()
{
InitSerial() ;
myservo.attach( 3 ) ; // attach the servo on pin 3 to the servo object
}
// ===
void loop()
{
for(pos = 0; pos < 180; pos += 1) // goes from 0 degrees to 180 degrees in steps of 1 degree
{
myservo.write(pos); // tell servo to go to position in variable 'pos'
Serial.println( pos ) ;
delay( iDelay ); // wait 15ms for the servo to reach the position
}
for(pos = 180; pos>=1; pos-=1) // goes from 180 degrees to 0 degrees in steps of 1 degree
{
myservo.write(pos); // tell servo to go to position in variable 'pos'
Serial.println( pos ) ;
delay( iDelay); // wait 15ms for the servo to reach the position
} ;
} ;
En el T440 es troba a "c:\sebas\arduino\2_gira_servo_180_graus_de_1_en_1\2_gira_servo_180_graus_de_1_en_1.ino"
turn car to left and then to right
nicolau@mars:~/sebas/elegoo/Lesson 1 Make The Car Move/AUTO_GO$ cat AUTO_GO.ino
sebs@minie:~$ cat /home/sebas/dades/elegoo/ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31/English/Lesson 1 Make The Car Move/AUTO_GO/AUTO_GO.ino
//www.elegoo.com
// The direction of the car's movement :
// ENA ENB IN1 IN2 IN3 IN4 Description in "serial monitor"
// HIGH HIGH HIGH LOW LOW HIGH car is runing forward
// HIGH HIGH LOW HIGH HIGH LOW car is runing back
// HIGH HIGH LOW HIGH LOW HIGH car is turning left
// HIGH HIGH HIGH LOW HIGH LOW car is turning right
// HIGH HIGH LOW LOW LOW LOW car is stoped
// HIGH HIGH HIGH HIGH HIGH HIGH car is stoped
// LOW LOW N/A N/A N/A N/A car is stoped
//define L298n module IO pin
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
void forward(){
digitalWrite(IN1,HIGH); // set IN1 high level
digitalWrite(IN2,LOW); // set IN2 low level
digitalWrite(IN3,LOW); // set IN3 low level
digitalWrite(IN4,HIGH); // set IN4 high level
Serial.println("Forward"); // send message to serial monitor
}
void back(){
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
Serial.println("Back");
}
void left(){
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
Serial.println("Left");
}
void right(){
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
Serial.println("Right");
}
void InitSerial(void)
{
Serial.begin(115200) ; // init serial
while (!Serial) ; // wait for Serial to become available
delay(4000) ; // to be able to connect Serial Monitor after reset or power up and before first print out
} // InitSerial()
void setup() {
InitSerial() ;
Serial.println( "*** AUTO_GO setup ***" ) ;
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
pinMode(IN1,OUTPUT); // before using io pin, pin mode must be set
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
digitalWrite(ENA,HIGH); // enable L298n A channel
digitalWrite(ENB,HIGH); // enable L298n B channel
}
// repeat execution
void loop() {
forward(); // go forward
delay(1000);
back(); // go back
delay(1000);
left(); // turn left
delay(1000);
right(); // turn right
delay(1000);
}
change motor speed
nicolau@mars:~/sebas/elegoo/ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31/English/Lesson 1 Make The Car Move/speed_control$ cat speed_control.ino
sebas@minie:~$ cat /home/sebas/dades/elegoo/ELEGOO Smart Robot Car Kit V3.0 Plus2020.12.31/English/Lesson 1 Make The Car Move/speed_control/speed_control.ino
//www.elegoo.com
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
void setup() {
pinMode(IN1,OUTPUT);
pinMode(IN2,OUTPUT);
pinMode(IN3,OUTPUT);
pinMode(IN4,OUTPUT);
pinMode(ENA,OUTPUT);
pinMode(ENB,OUTPUT);
}
void loop() {
// go forward
digitalWrite(IN1,HIGH);
digitalWrite(IN2,LOW);
digitalWrite(IN3,LOW);
digitalWrite(IN4,HIGH);
// reduce speed
for(int i = 255; i >= 0; i--){
analogWrite(ENB,i);
analogWrite(ENA,i);
delay(20);
}
// stop
analogWrite(ENB,0); //speed = 0
analogWrite(ENA,0);
delay(1000);
// go back
digitalWrite(IN1,LOW);
digitalWrite(IN2,HIGH);
digitalWrite(IN3,HIGH);
digitalWrite(IN4,LOW);
// increase speed
for(int i = 0; i <= 255; i++){
analogWrite(ENB,i);
analogWrite(ENA,i);
delay(20);
}
// stop
digitalWrite(ENB,LOW); // motor is off
digitalWrite(ENA,LOW);
delay(2000);
}
Servo Test sketch
Here is the “Servo Debug” sketch that Elegoo has provided:
// www.elegoo.com
#include <Servo.h>
Servo myservo;
void setup(){
myservo.attach(3);
myservo.write(90); // move servos to center position -> 90°
}
void loop(){
}
Collision Avoidance sketch
Here is the collision avoidance sketch provided by Elegoo:
// www.elegoo.com
#include <Servo.h> // servo library
Servo myservo; // create servo object to control servo
int Echo = A4;
int Trig = A5;
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define carSpeed 150
int rightDistance = 0, leftDistance = 0, middleDistance = 0;
void forward(){
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("Forward");
}
void back() {
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
Serial.println("Back");
}
void left() {
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("Left");
}
void right() {
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
Serial.println("Right");
}
void stop() {
digitalWrite(ENA, LOW);
digitalWrite(ENB, LOW);
Serial.println("Stop!");
}
// Ultrasonic distance measurement function
//
// The Distance_test function is used to drive the HC-SR04 ultrasonic sensor and measure the distance.
// It works by producing a pulse that goes low for 2 microseconds and then high for 20 microseconds.
// This pulse is used to drive the trig (trigger) input on the HC-SR04.
// Then the Arduino pulseIn function is used to measure the received pulse from the echo pin on the ultrasonic sensor.
// The result is divided by 58 to get the distance in centimeters, this result is returned by the function as an integer.
int Distance_test() {
digitalWrite(Trig, LOW);
delayMicroseconds(2);
digitalWrite(Trig, HIGH);
delayMicroseconds(20);
digitalWrite(Trig, LOW);
float Fdistance = pulseIn(Echo, HIGH);
Fdistance = Fdistance / 58;
return (int)Fdistance;
}
void InitSerial(void)
{
Serial.begin(115200) ; // init serial
while (!Serial) ; // wait for Serial to become available
delay(4000) ; // to be able to connect Serial Monitor after reset or power up and before first print out
} // InitSerial()
void setup() {
myservo.attach(3); // attach servo on pin 3 to servo object
InitSerial() ;
Serial.println( "*** collision avoidance setup ***" ) ;
pinMode(Echo, INPUT);
pinMode(Trig, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
stop();
}
void loop() {
myservo.write(90); // set servo position according to scaled value
delay(500);
middleDistance = Distance_test();
if(middleDistance <= 20) {
stop();
delay(500);
myservo.write(10);
delay(1000);
rightDistance = Distance_test();
delay(500);
myservo.write(90);
delay(1000);
myservo.write(180);
delay(1000);
leftDistance = Distance_test();
delay(500);
myservo.write(90);
delay(1000);
if(rightDistance > leftDistance) {
right();
delay(360);
}
else if(rightDistance < leftDistance) {
left();
delay(360);
}
else if((rightDistance <= 20) || (leftDistance <= 20)) {
back();
delay(180);
}
else {
forward();
}
}
else {
forward();
}
}
Line Following sketch
Let’s take a look at the Line Tracking Car sketch provided by Elegoo.
// www.elegoo.com
// Line Tracking IO define
#define LT_R !digitalRead(10)
#define LT_M !digitalRead(4)
#define LT_L !digitalRead(2)
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
#define carSpeed 150
void forward(){
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("go forward!");
}
void back(){
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
Serial.println("go back!");
}
void left(){
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
Serial.println("go left!");
}
void right(){
analogWrite(ENA, carSpeed);
analogWrite(ENB, carSpeed);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
Serial.println("go right!");
}
void stop(){
digitalWrite(ENA, LOW);
digitalWrite(ENB, LOW);
Serial.println("Stop!");
}
void InitSerial(void)
{
Serial.begin(115200) ; // init serial
while (!Serial) ; // wait for Serial to become available
delay(4000) ; // to be able to connect Serial Monitor after reset or power up and before first print out
} // InitSerial()
void setup(){
InitSerial() ;
Serial.println( "*** line follower v 1.0 setup ***" ) ;
pinMode(LT_R,INPUT);
pinMode(LT_M,INPUT);
pinMode(LT_L,INPUT);
}
void loop() {
if(LT_M){
forward();
}
else if(LT_R) {
right();
while(LT_R);
}
else if(LT_L) {
left();
while(LT_L);
}
}
conexió amb l'exterior - I/O expansion card pinout
Mirem el esquema del pinout de la "expansion card" :
// Line Track LEDs
#define LT_LEFT 2
#define LT_MIDDLE 4
#define LT_RIGHT 10
// SG90 servo (moves the HC-SR04)
#define SERVO_SG90 3
// HC-SR04 ultrasonic sensor
int Echo = A4 ;
int Trig = A5 ;
// L298N H-Bridge
#define ENA 5
#define ENB 6
#define IN1 7
#define IN2 8
#define IN3 9
#define IN4 11
Queda molt clar el significat dels simbols vistos a la placa
Una pregunta : per que "ENA" és "define" mentre "Echo" és "int" ?
avrdude
avrdude: Version 6.3-20190619
Copyright (c) 2000-2005 Brian Dean, http://www.bdmicro.com/
Copyright (c) 2007-2014 Joerg Wunsch
System wide configuration file is "/home/sebas/.arduino15/packages/arduino/tools/avrdude/6.3.0-arduino17/etc/avrdude.conf"
User configuration file is "/home/sebas/.avrduderc"
dubtes Elegoo
- que es avrdude ?
github - tool for downloading and uploading the on-chip memories of Microchip’s AVR microcontrollers
- de vegades no puc pujar el codi al robot.
at IDE "Output" from Upload : avrdude: stk500_recv(): programmer is not responding avrdude: stk500_getsync() attempt 1 of 10: not in sync: resp=0x00 sebas@minie:~$ dmesg cdc_acm 1-2:1.0: ttyACM0: USB ACM device [ 1772.487052] usbhid 1-2:1.2: couldn't find an input interrupt endpoint
System log :
Nov 25 21:18:59 minie kernel: [ 2749.422840] cdc_acm 1-2:1.0: ttyACM0: USB ACM device Nov 25 21:18:59 minie kernel: [ 2749.422961] usbhid 1-2:1.2: couldn't find an input interrupt endpoint Nov 25 21:18:59 minie mtp-probe: checking bus 1, device 7: "/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2" Nov 25 21:18:59 minie mtp-probe: bus: 1, device: 7 was not an MTP device Nov 25 21:18:59 minie mtp-probe: checking bus 1, device 7: "/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2" Nov 25 21:18:59 minie mtp-probe: bus: 1, device: 7 was not an MTP device Nov 25 21:19:02 minie ModemManager[900]: <info> [base-manager] couldn't check support for device '/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2': not supported by any pluginSolucio : desconectar USB i reconectar !
comunicació de Raspberry a Raspberry per antena + conexió Rasberry a antena
Tinc dues antenes NRF24L01 (amb antena externa) per conectar dos Raspberry entre ells
antena specs PDFs : nRF24L01 , nRF24L01+
PA = Power Amplifier
LNA = Low-Noise Amplifier
CE = chip enable
CSN = chip select not
Ens va molt be un adaptador/alimentador YL-105
Em cal :
- esquema de conexionat del Raspberry a la antena
- software al Raspberry per "enviar"
- software al Raspberry per "rebre"
cablejat entre Rasberry 3 i antena NRF24 via YL-105
We use YL-105 card to provide 3,3 volts from Raspberry's 5 volts :
NRF24L01 YL-105 Raspberry 3
| CE [.] gris verd CE -> (15) GPIO22 Chip Enable (NRF CE - user defined)
| GND . . VCC CSN [.] blau CSN -> (24) GPIO08 + CE0_N Chip Select Not (SPI CE)
| CE . . CSN SCK [.] verd SCK -> (23) GPIO11 + SCLK Serial ClocK
| SCK . . MO MO [.] groc MO -> (19) GPIO10 + SPI0_MOSI Master Out (Slave In)
| MI . . IRQ MI [.] lila MI -> (21) GPIO09 + SPI0_MISO Master In (Slave Out)
| IRQ [.] not used
| vermell VCC -> (2) + 5 v
| negre GND -> (6) GND
| VCC (5 volts) [.] [.] GND
.-----------------------------
Aixi, al codi posarem "CE = 22" per Raspi
Faig servir la conexio que ell recomana : how to connect the pins of the NRF24L01
Aixi, codificarem : ( detalls RF24 radio )
RF24 radio( <ce_pin>, <a>*10+<b> ) ; # for proper constructor to address correct spi device at /dev/spidev<a>.<b>
RF24 radio( 22, 0 ) ; # CE for Raspberry := 22 ;
wifi communication : get lib_nfr24.py + example-nrf24-send-rpi.py + example-nrf24-recv-rpi.py from url
Detalls dels pins :
- CE (Chip Enable) is an active-HIGH pin.
When selected the nRF24L01 will either transmit or receive, depending upon which mode it is currently in. - CSN (Chip Select Not) is an active-LOW pin and is normally kept HIGH.
When this pin goes low, the nRF24L01 begins listening on its SPI port (Serial Peripheral Interface) for data and processes it accordingly. - MOSI (Master Out, Slave In): és la línia per on la Raspberry Pi (Master) envia dades al NRF24L01 (Slave).
- MISO (Master In, Slave Out): és la línia per on el NRF24L01 (Slave) respon o envia dades a la Raspberry Pi (Master).
wifi communication + Arduino connection
raspberry a raspberry - codi python
"PiZero" is running "sudo python example.nrf24-send-rpi.py"
"Odin" is running "sudo python example.nrf24-recv-rpi.py"
raspberry a raspberry - ODIN (receiver)
We run "[sag] $ sudo /home/sag/nrf24l01/example-nrf24-recv-rpi.py", from a direct "TV"
raspberry a raspberry - Pi0 (sender)
sebas@pi0alby:~/nrf24l01 $ sudo ./example-nrf24-send-rpi.py
Traceback (most recent call last):
File "./example-nrf24-send-rpi.py", line 16, in <module>
radio.begin(0, 17)
File "/home/sebas/nrf24l01/lib_nrf24.py", line 373, in begin
self.spidev.open(0, csn_pin)
IOError: [Errno 2] No such file or directory
sebas@pi0alby:~/nrf24l01 $ ls /dev/spi*
ls: cannot access '/dev/spi*': No such file or directory
SPI is not enabled
sebas@pi0alby:~/nrf24l01 $ cat /boot/config.txt | grep spi
#dtparam=spi=on
Lets go
$ sudo raspi-config
1 System Options
P4 SPI Enable/disable automatic loading of SPI kernel module
After a reboot, we have
sebas@pi0alby:~ $ ls /dev/spi*
0 crw-rw---- 1 root spi 153, 0 Jan 16 19:50 /dev/spidev0.0
0 crw-rw---- 1 root spi 153, 1 Jan 16 19:50 /dev/spidev0.1
Ara tenim
sebas@pi0alby:~/nrf24l01 $ sudo ./example-nrf24-send-rpi.py
STATUS = 0x03 RX_DR=0 TX_DS=0 MAX_RT=0 RX_P_NO=1 TX_FULL=1
RX_ADDR_P0-1 = 0x70707070f0 0xf9f9f9f9f9
RX_ADDR_P2-5 = 0xf0 0xf1 0xf1 0xf1
TX_ADDR = 0x70707070f0
RX_PW_P0-6 = 0x08 0x08 0x00 0x00 0x00 0x00
EN_AA = 0x0f
EN_RXADDR = 0x00
RF_CH = 0x18
RF_SETUP = 0xfe
CONFIG = 0x1f
DYNPD/FEATURE = 0x03 0x01
Data Rate = 1MBPS
Model = nRF24L01
CRC Length = 16 bits
PA Power = PA_HIGH
Sent: ['H', 'E', 'L', 'O', 1]
Received: Ack only, no payload
Sent: ['H', 'E', 'L', 'O', 2]
Received: Ack only, no payload
Sent: ['H', 'E', 'L', 'O', 3]
Received: Ack only, no payload
Aquest codi no em deix escollir el canal !
antena a antena - receiver code
A veure aquestos : bjarne hansen o millor getting_started (both roles)
sag@r3:~/nrf24l01 $ cat 1_sag_rebre.py
#!/usr/bin/python3
# program to receive data using a NRF24 antenna
# https://nrf24.github.io/RF24/index.html
# https://github.com/jpbarraca/pynrf24/blob/master/examples/recv.py
import nrf24
radio = RF24( 22, 0 ) # compte amb el CS ; CE = 22 for our Raspbery cabling
if not radio.begin():
raise RuntimeError("--- radio hardware is not responding")
adressa = [b"1Node", b"2Node"]
radio_number = 0 # receive
radio.setRetries( 15, 15 ) ;
radio.setPayloadSize( 16 ) ;
radio.setChannel( 3 ) ;
radio.setDataRate( NRF24.BR_1MBPS )
radio.setPALevel( RF24_PA_LOW ) # RF24_PA_MAX is default
radio.disableAckPayload()
radio.openWritingPipe( adressa[radio_number] ) # always uses pipe 0
radio.openReadingPipe( 1, adressa[not radio_number] ) # using pipe 1
radio.startListening() ;
radio.stopListening() ;
radio.printDetails() ; # see channel number
radio.startListening() ;
while True:
while not radio.available( ):
time.sleep(1000/1000000.0)
length = radio.getPayloadSize() # for static payload sizes
received_payload = radio.read(length)
print( received_payload )
chn = radio.channel
dades_hex = ':'.join(f'{i:02x}' for i in received_payload ) # convert data to hex
print(f'>>> dades rebudes canal {chn}: {dades_hex}.')
antena a antena - sender code
See 1_send.py
antena a antena - URLs codi python
Exemples :
- github bjarne-hansen + pypi - uses pigpio
- github jpbarraca - app , but starts at blavery
- app + github Blavery (abandoned)
comunicació de Raspberry a Arduino per antena
Em cal :
- esquema de conexionat del Raspberry a la antena - url
- software al Raspberry per "enviar" / "rebre"
- esquema de cablejat del Arduino a la antena
- software al Arduino per "rebre" / "enviar"
how to map the pipes format from Arduino to Raspberry
Raspberry :
address = [b"1Node", b"2Node"] # an address need to be a buffer protocol object (bytearray)
# sender receiver address
radio.openWritingPipe( address[radio_number] ) # always uses pipe 0 ; radio_number ( 0 = receiver, 1 = transmitter )
addresses = [[0xE0, 0xE0, 0xF1, 0xF1, 0xE0], [0xF1, 0xF1, 0xF0, 0xF0, 0xE0]]
radio.openWritingPipe(addresses[0]) # open the defined pipe for writing
TypeError: buf parameter must be bytes or bytearray
radio.printDetails() # print basic detals of radio
Arduino :
const uint64_t pipe = 0xE0E0F1F1E0LL ; // pipe address same as sender i.e. raspberry pi
radio.openReadingPipe(1, pipe) ; // start reading pipe
cablejat de Arduino NANO a antena
| NRF24L01 YL-105 Arduino NANO ---NANO-----.
| CE [.] groc CE -> (-) D9 Chip Enable Vin |
| GND . . VCC CSN [.] verd CSN -> (-) D8 Chip Select Not GND |
| CE . . CSN SCK [.] taronja SCK -> (-) D13 Serial ClocK | |
| SCK . . MO MO [.] blanc MO -> (-) D11 Master Out (Slave In) | D8 |
| MI . . IRQ MI [.] gris verd MI -> (-) D12 Master In (Slave Out) | D9 |
| IRQ [.] not used | D10 |
| vermell VCC -> (-) Vin | D11 3V3 |
| negre GND -> (-) GND | D12 D13 |
| .--------------.
| VCC (5 volts) [.] [.] GND
.------------------------------
Aqui pots veure el pinout del NANO, i tambe aqui
cablejat de Arduino UNO (robot) a antena
Esquema de cablejat : conecta els pins de l'adaptador YL-105 a la placa Arduino / Shield d'Elegoo segons la següent taula:
Pin YL-105 Funció Pin a l'Elegoo / Arduino UNO color cable codi
. . . .
VCC Alimentació 5V red pin vermell
GND Massa GND black pin negre
CE Chip Enable D9 (configurable per codi) groc CE = 9
CSN Chip Select Not D10 (configurable per codi) verd CSN = 10
SCK SPI Clock D13 (SPI hardware) taronja
MO (MOSI) Master Out Slave In D11 (SPI hardware) blanc
MI (MISO) Master In Slave Out D12 (SPI hardware) gris verd
IRQ Interrupció not used .
Aixi al codi haurem de posar CE = 9 i CSN = 10 ;
posem el robot/UNO com receptor
- cablejar R3 conectat a nrf24 i engega /home/pi/python/nrf/1_send.py
- engeguem "Arduino ID v2"
- seleccionar "board" := "Arduino UNO"
- selecionar "port" := dev/ttyACM0
- load sketch "/home/sebas/dades/python/nrf24/arduino/uno_rcv/uno_rcv.ino", then "Compile" + "Upload"
Error: programmer is not responding Warning: attempt 6 of 10: not in sync: resp=0x00
- remove bluetooth module ... or desconectar USB i reconectar !
- "Upload" again
--- (v 1.4) Error: el mòdul NRF24 no respon!
- RF24 radio(9, 10); // define CSN properly
--- CONFIGURACIÓ ACTUAL D'ARDUINO --- SPI Frequency = 10 Mhz Channel = 76 (~ 2476 MHz) Model = nRF24L01+ RF Data Rate = 2 MBPS RF Power Amplifier = PA_LOW RF Low Noise Amplifier = Enabled CRC Length = 16 bits Address Length = 5 bytes Static Payload Length = 32 bytes Auto Retry Delay = 1500 microseconds Auto Retry Attempts = 15 maximum Packets lost on current channel = 0 Retry attempts made for last transmission = 0 Multicast = Disabled Custom ACK Payload = Disabled Dynamic Payloads = Disabled Auto Acknowledgment = Enabled Primary Mode = RX TX address = 0xe7e7e7e7e7 pipe 0 (closed) bound = 0xe7e7e7e7e7 pipe 1 (closed) bound = 0x65646f4e31 # "1Node" pipe 2 (closed) bound = 0xc3 pipe 3 (closed) bound = 0xc4 pipe 4 (closed) bound = 0xc5 pipe 5 (closed) bound = 0xc6 ------------------------------------
comunicació Arduino (Minie+Robot UNO) - Raspberry (R3) per antena : codi Arduino "receiver"
Posem al IDE :
nicolau@mars:~/sebas/python/nrf24/arduino/rcv_sag$ cat rcv_sag.ino
sebas@minie:~/dades/python/nrf24/arduino/rcv_sag$ cat rcv_sag.ino
// versions /home/sebas/dades/python/nrf24/arduino/rcv_sag/rcv_sag.ino
//
// 1.1.a - 20210130 - inici
// 1.2.a - 20210131 - bon bucle
// 1.2.b - myRx_addr
// 1.2.c - 20260817 - tornem-hi
//
/*
* Arduino Wireless Communication Tutorial
* Example 1 - Receiver Code
*
* by Dejan Nedelkovski, www.HowToMechatronics.com
*
* https://howtomechatronics.com/tutorials/arduino/arduino-wireless-communication-nrf24l01-tutorial/
*
* Library: TMRh20/RF24, https://github.com/tmrh20/RF24/
*
*/
// /home/nicolau/sebas/python/nrf24/arduino/docu/RF24-1.3.10/examples/GettingStarted/GettingStarted.ino
// https://forum.arduino.cc/index.php?topic=685951.0
// open "Tools" + "Serial Monitor" (CTRL + SHIFT + "M") and select 115200 baud
#include <SPI.h>
#include <RF24.h>
#include <printf.h> // <--- 1. Agefir per poder fer print() a Serial
RF24 radio( 9, 10 ) ; // CE, CSN per Arduino UNO del Robot
const byte address[6] = "1Node";
String szAddress = "" ;
String szVersio = "v 1.2.c - adressa as rspi" ;
char szIN[32] ; // NRF max payload
int iLng = 0 ; // data length
char szOut = "" ;
int iCnt = 0 ; // loop count
void setup() {
Serial.begin( 115200 );
while (!Serial) ; // wait for Serial to become available
delay(1000) ; // to be able to connect Serial Monitor after reset or power up and before first print out
printf_begin(); // <--- 2. Afegir abans de printDetails()
if (!radio.begin()) {
Serial.println(F("--- (v 1.2.c) error: el mòdul NRF24 no respon!"));
// radio.printPrettyDetails();
while (1); // Atura l'execució si el mòdul no està ben connectat
}
// radio.setCRCLength(RF24_CRC_16);
// radio.setPayloadSize(4);
radio.setChannel(76);
radio.setPALevel(RF24_PA_LOW) ; // or MIN
radio.setDataRate(RF24_2MBPS); // or 250KBPS
// radio.setAutoAck(false); // Disable Auto Acknowledgments globally across all pipes
szAddress = address ; // convert byte[6] to string
radio.openReadingPipe( 0, address ) ;
radio.closeReadingPipe(1); // ensure Pipe 1 is closed
radio.startListening();
radio.flush_rx(); // Clears all 3 slots of the RX FIFO
Serial.println( "*** (v 1.2.c) RF24 receiver started *** adressa recepcio : " ) ;
Serial.println( szAddress ) ;
Serial.println( szVersio ) ;
radio.printPrettyDetails();
}
void loop() {
if ( radio.available() ) {
memset(szIN, 0, sizeof(szIN)); // clear buffer
while (radio.available()) {
radio.read( szIN, sizeof(szIN) -1 ) ;
szIN[31] = '\0';
} ;
radio.stopListening();
iLng = strlen(szIN) ;
Serial.print( "+++ rcvd, lng(" ) ;
Serial.print( iLng ) ;
Serial.print( "). " ) ;
Serial.println( szIN ) ;
radio.startListening() ;
}
iCnt = iCnt + 1 ;
Serial.print( ">>> bucle " ) ;
Serial.println( iCnt ) ;
delay(1000); // wait for a second
}
I obtenim :
nRF24L01.h: No such file or directory
Read how to install Arduino libraries and install :
- get master.zip and rename ir "rf24.zip"
- open Arduino IDE and go to "Sketch", "Include Library", "add .zip library" and open the .zip file that you have just downloaded
- now the NRF24 library should be installed
- check "Sketch" + "Include Library"
Ara ja podem compilar. Per pujar el codi al NANO cal anar a "Tools" + "Port" i escollir "/dev/ttyUSB0"
comunicació Arduino - Raspberry per antena : proves Rspi send, Arduino recv
- arduino : rcv_sag.ini + serial monitor
- o be "/home/sebas/dades/python/nrf24/arduino/uno_rcv/uno_rcv.ino"
- pi0 : sebas@pi0alby:~/python/nrf24 $ ./1_send.py
- o be R3 : pi@r3-64gb:~/python/nrf $ ./1_send.py
R3 is sender :
Si vols utilitzar dues NRF24L01 (o NRF24L01+ de 2.4 GHz) connectats a dues Raspberry Pi, la millor opció actual en Python és utilitzar la llibreria oficial pyRF24.
- cablejem R3 a NRF24 : see
- install pyRF24 on R3 and Minie
- on R3, run /home/sebas/dades/python/nrf24/r3/1_send.py
- on Minie + UNO, run "/home/sebas/dades/python/nrf24/arduino/uno_rcv/uno_rcv.ino"
Instalacio :
sebas@minie:~/dades/python/nrf24/r3$ python3 -m pip install pyrf24
Defaulting to user installation because normal site-packages is not writeable
Collecting pyrf24
Downloading pyrf24-0.6.0-cp310-cp310-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl (276 kB)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 276.8/276.8 KB 854.6 kB/s eta 0:00:00
Requirement already satisfied: typing-extensions in /home/sebas/.local/lib/python3.10/site-packages (from pyrf24) (4.15.0)
Installing collected packages: pyrf24
Successfully installed pyrf24-0.6.0
pi@r3-64gb:~/python/nrf $ sudo apt update
pi@r3-64gb:~/python/nrf $ python3 -m pip install pyrf24 --break-system-packages # for local user
Defaulting to user installation because normal site-packages is not writeable
Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple
Collecting pyrf24
Downloading pyrf24-0.6.0-cp311-cp311-manylinux_2_24_armv7l.manylinux_2_31_armv7l.whl (226 kB)
━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━ 226.5/226.5 kB 1.2 MB/s eta 0:00:00
Requirement already satisfied: typing-extensions in /usr/lib/python3/dist-packages (from pyrf24) (4.4.0)
Installing collected packages: pyrf24
Successfully installed pyrf24-0.6.0
Veure contingut :
pi@r3-64gb:~/python/nrf $ python3
Python 3.11.2 (main, Sep 14 2024, 03:00:30) [GCC 12.2.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import pyrf24
>>> print(dir(pyrf24))
['AddrListStruct', 'BATTERY_UUID', 'BLE_FREQ', 'BatteryServiceData', 'EDDYSTONE_UUID', 'EXTERNAL_DATA_TYPE',
'FLAG_FAST_FRAG', 'FLAG_NO_POLL', 'FakeBLE', 'MAX_PAYLOAD_SIZE', 'MAX_USER_DEFINED_HEADER_TYPE',
'MESH_ADDR_LOOKUP', 'MESH_ADDR_RELEASE', 'MESH_DEFAULT_ADDRESS', 'MESH_ID_LOOKUP', 'NETWORK_ACK',
'NETWORK_ADDR_RESPONSE', 'NETWORK_CORRUPTION', 'NETWORK_FIRST_FRAGMENT', 'NETWORK_LAST_FRAGMENT',
'NETWORK_MORE_FRAGMENTS', 'NETWORK_OVERRUN', 'NETWORK_PING', 'NETWORK_POLL', 'NETWORK_REQ_ADDRESS',
'QueueElement', 'RF24', 'RF24Mesh', 'RF24Network', 'RF24NetworkHeader', 'RF24_1MBPS', 'RF24_250KBPS',
'RF24_2MBPS', 'RF24_CRC_16', 'RF24_CRC_8', 'RF24_CRC_DISABLED', 'RF24_DRIVER', 'RF24_FIFO_EMPTY',
'RF24_FIFO_FULL', 'RF24_FIFO_INVALID', 'RF24_FIFO_OCCUPIED', 'RF24_IRQ_ALL', 'RF24_IRQ_NONE',
'RF24_PA_HIGH', 'RF24_PA_LOW', 'RF24_PA_MAX', 'RF24_PA_MIN', 'RF24_RX_DR', 'RF24_TX_DF', 'RF24_TX_DS',
'ServiceData', 'TEMPERATURE_UUID', 'TemperatureServiceData', 'UrlServiceData',
'__all__', '__builtins__', '__cached__', '__doc__', '__file__', '__loader__', '__name__', '__package__',
'__path__', '__spec__', 'address_repr', 'chunk', 'crc24_ble', 'fake_ble', 'pyrf24', 'reverse_bits',
'rf24_crclength_e', 'rf24_datarate_e', 'rf24_fifo_state_e', 'rf24_irq_flags_e', 'rf24_pa_dbm_e', 'swap_bits', 'whitener']
>>>
Mes instalacio :
if not rad.begin():
^^^^^^^^^^^
RuntimeError: [SPI::begin] Can't open device /dev/spidev0.0; No such file or directory
sudo raspi-config
3 Interface Options
I4 SPI
"yes" to enable
sudo reboot
pi@r3-64gb:~/python/nrf $ ls -l /dev/spidev0.*
0 crw-rw---- 1 root spi 153, 0 Aug 15 13:34 /dev/spidev0.0
0 crw-rw---- 1 root spi 153, 1 Aug 15 13:34 /dev/spidev0.1
Tenim aquest codi :
pi@r3-64gb:~/python/nrf $ cat 1_send.py
#!/usr/bin/python3
# -*- coding: utf-8 -*-
# versions
# 20260815 1.1 inici
# 1.2 reduce power level and data rate
# 1.3 snake_case names of functions fix
# 1.4 deprecation warning, 1MBPS
# 1.5 select channel
# 1.6 test for data in ACK
import time
import struct
from pyrf24 import RF24, RF24_PA_HIGH, RF24_PA_LOW, RF24_250KBPS, RF24_1MBPS, RF24_2MBPS
# Inicialització del mòdul (CE pin 22, CSN pin 8 / CE0)
radio = RF24(22, 0)
# Configuració de la canonada (pipe) de comunicació
address = b"1Node"
if not radio.begin():
raise RuntimeError("--- (v 1.6 1_send.py) Error : el mòdul NRF24 no respon!")
# radio.setRetries(delay, count);
# delay: 0-15 (multiples of 250 us -> 16 = 4000 us delay)
# count: 0-15 (number of retry attempts -> 15 attempts)
radio.setRetries(16, 15)
radio.setPALevel(RF24_PA_LOW) # select power level : RF24_PA_LOW o RF24_PA_HIGH
radio.setDataRate(RF24_2MBPS) # select speed : RF24_250KBPS, RF24_1MBPS, RF24_2MBPS
radio.setChannel(76) # select channel
radio.stopListening(address) # posem el mòdul en mode escriptura (emissor)
print("\n--- CONFIGURACIÓ ACTUAL DE LA RASPBERRY PI ---")
radio.printDetails() # També pots provar: radio.printPrettyDetails()
print("---------------------------------------------\n")
print(f"+++ (v 1.6 1_send.py) Raspberry Pi 3: Emissora en marxa +++")
contador = 0
num_msg_total = 0
num_msg_ok = 0
num_msg_err = 0
try:
while True:
# Creem un missatge de text i l'ajustem a un buffer (màxim 32 bytes)
missatge = f"Hola #{contador}".encode('utf-8')
# Enviament de les dades
resultat = radio.write(missatge)
num_msg_total = num_msg_total +
if resultat:
num_msg_ok = num_msg_ok + 1
print(f"+++ snd OK i rx ACK. Lng {llargada}. Ratio {num_msg_ok}/{num_msg_total}.")
if radio.available():
# Hi ha dades de piggyback!
len = radio.getDynamicPayloadSize()
dades_ack = radio.read(len)
print(f"ACK rebut amb dades: {dades_ack}")
else:
print("ACK rebut sense dades (ACK buit)")
else:
num_msg_err = num_msg_err + 1
print(f"--- Error: s'ha perdut el paquet #{contador} o el ACK. Num {num_msg_err}.")
contador += 1
time.sleep(2)
except KeyboardInterrupt:
print("\n>>> Transmissió finalitzada.")
radio.printPrettyDetails()
radio.powerDown()
Primer intent :
pi@r3-64gb:~/python/nrf $ ./1_send.py
--- Raspberry Pi 1: Emissora en marxa ---
Error: S'ha perdut el paquet.
Error: S'ha perdut el paquet.
^C
Transmissió finalitzada.
La explicació és :
when radio.write() fails, the transmitter did not receive an automatic acknowledgment (ACK) packet back from a receiver.
Posem en martxa el receptor :
- cablejem del UNO al NRF24 : see
- editem "/home/sebas/dades/python/nrf24/arduino/uno_rcv/uno_rcv.ino"
- conectem el NANO al USB
Aug 15 18:23:51 minie kernel: [ 936.886667] usb 1-2: new full-speed USB device number 7 using xhci_hcd Aug 15 18:23:51 minie systemd[1]: Starting Cleanup of Temporary Directories... Aug 15 18:23:51 minie systemd[1]: systemd-tmpfiles-clean.service: Deactivated successfully. Aug 15 18:23:51 minie systemd[1]: Finished Cleanup of Temporary Directories. Aug 15 18:23:51 minie kernel: [ 937.029825] usb 1-2: New USB device found, idVendor=1a86, idProduct=7523, bcdDevice= 2.64 Aug 15 18:23:51 minie kernel: [ 937.029839] usb 1-2: New USB device strings: Mfr=0, Product=2, SerialNumber=0 Aug 15 18:23:51 minie kernel: [ 937.029846] usb 1-2: Product: USB Serial Aug 15 18:23:51 minie kernel: [ 937.035488] ch341 1-2:1.0: ch341-uart converter detected Aug 15 18:23:51 minie kernel: [ 937.049438] usb 1-2: ch341-uart converter now attached to ttyUSB0 Aug 15 18:23:51 minie mtp-probe: checking bus 1, device 7: "/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2" Aug 15 18:23:51 minie mtp-probe: bus: 1, device: 7 was not an MTP device Aug 15 18:23:52 minie mtp-probe: checking bus 1, device 7: "/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2" Aug 15 18:23:52 minie mtp-probe: bus: 1, device: 7 was not an MTP device Aug 15 18:23:54 minie ModemManager[1009]: <info> [base-manager] couldn't check support for device '/sys/devices/pci0000:00/0000:00:08.1/0000:05:00.3/usb1/1-2': not supported by any plugin
- engeguem "Arduino IDE v2" + "File" + "Open" -> "/home/sebas/dades/python/nrf24/arduino/uno_rcv/uno_rcv.ino"
"sketch" + "verify/compile" => Compilation error: nRF24L01.h: No such file or directory
"Tools" + "Manage Libraries" + search "RF24" + install TMRh20 (https://nrf24.github.io/RF24/) 1.6.2 => compile OK
"sketch" + "upload"Serial port /dev/ttyUSB0: Connecting...................................... A fatal error occurred: Failed to connect to ESP32: No serial data received. For troubleshooting steps visit: https://docs.espressif.com/projects/esptool/en/latest/troubleshooting.html Failed uploading: uploading error: exit status 2
teniem configurat ESP32 en lloc de UNO : board := "Arduino UNO", port := "/dev/ttyUSB0" {menu principal, selector al centre}Avrdude version 8.0-arduino.1 Copyright see https://github.com/avrdudes/avrdude/blob/main/AUTHORS System wide configuration file is /home/sebas/.arduino15/packages/arduino/tools/avrdude/8.0.0-arduino1/etc/avrdude.conf User configuration file /home/sebas/.avrduderc does not exist Using port : /dev/ttyUSB0 Using programmer : arduino Setting baud rate : 115200 AVR part : ATmega328P Programming modes : SPM, ISP, HVPP, debugWIRE Programmer type : Arduino Description : Arduino bootloader using STK500 v1 protocol HW Version : 3 FW Version : 4.4 AVR device initialized and ready to accept instructions Device signature = 1E 95 0F (ATmega328P, ATA6614Q, LGT8F328P) Reading 3260 bytes for flash from input file uno_rcv.ino.hex in 1 section [0, 0xcbb]: 26 pages and 68 pad bytes Writing 3260 bytes to flash Writing | ################################################## | 100% 0.55s 3260 bytes of flash written Avrdude done. Thank you.
La millor configuració per comunicar el R3 amb el UNO del Minie es (res de 250KBPS o 1MBPS -> rspi no reb ACK) :
speed PA canal retry delay retry count
2MBPS low 76 16x 250 us 15
UNO (uno_rcv.ino) reb tots els paquets be, R3 (1_send.py) perfecte
I el codi que hem fet servir al receptor es uno_rcv.ino :
#include <SPI.h>
// #include <nRF24L01.h> not needed as we have RF24.h
#include <RF24.h>
#include <printf.h> // <--- 1. Agefir per poder fer Print() a Serial
// versions /home/sebas/dades/python/nrf24/arduino/uno_rcv/uno_rcv.ino :
//
// 20260815 1.1 inici
// 1.2 reduce power level and data rate
// 1.3 mostrar llargada missatge rebut
// 1.4 select channel
// Definició dels pins CE i CSN - see best config
RF24 radio(9, 10);
// Mateixa adreça de 5 bytes definida a la Raspberry Pi (b"1Node")
const byte address[6] = "1Node";
void setup() {
Serial.begin(115200);
while (!Serial) ; // wait for Serial to become available
Serial.flush() ; // waits for the transmission of outgoing serial data to complete
delay(1000) ; // ... to be able to connect Serial Monitor after reset or power up and before first print out
printf_begin(); // <--- 2. Afegir per poder fer print() a Serial, abans de printDetails()
if (!radio.begin()) {
Serial.println(F("--- (v 1.4 uno_rcv.ino) Error: el mòdul NRF24 no respon!"));
while (1); // Atura l'execució si el mòdul no està ben connectat
}
// Configurem els mateixos paràmetres que a la Raspberry Pi 3
radio.setChannel(76); // set channel
radio.setPALevel(RF24_PA_LOW); // set power level : RF24_PA_LOW, RF24_PA_HIGH o RF24_PA_MIN
radio.setDataRate(RF24_2MBPS); // set data rate : RF24_250KBPS, RF24_1MBPS o RF24_2MBPS
radio.openReadingPipe(1, address);
radio.startListening(); // Activem el mode escolta/receptor
radio.flush_rx(); // Clears all 3 slots of the RX FIFO
// 5. REVISIÓ DE CONFIGURACIÓ
Serial.println(F("\n--- CONFIGURACIÓ ACTUAL D'ARDUINO ---"));
radio.printDetails(); // O radio.printPrettyDetails();
Serial.println(F("------------------------------------\n"));
Serial.println(F("+++ (v 1.4 uno_rcv.ino) Minie + Arduino UNO: receptor en marxa +++"));
}
void loop() {
if (radio.available()) {
char missatge[32] = {0}; // Buffer de 32 bytes (mida màxima per paquet NRF24)
radio.read( &missatge, sizeof(missatge) -1 );
int llargada = strlen(missatge); // Calcula la llargada del text
Serial.print(F("+++ Rebut ["));
Serial.print(llargada);
Serial.print(F("] "));
Serial.println(missatge);
}
}
La configuracio resumida es :
--- CONFIGURACIÓ ACTUAL D'ARDUINO ---
SPI Frequency = 10 Mhz
Channel = 76 (~ 2476 MHz)
Model = nRF24L01+
RF Data Rate = 2 MBPS
RF Power Amplifier = PA_LOW
RF Low Noise Amplifier = Enabled
CRC Length = 16 bits
Address Length = 5 bytes
Static Payload Length = 32 bytes
Auto Retry Delay = 1500 microseconds
Auto Retry Attempts = 15 maximum
Multicast = Disabled
Custom ACK Payload = Disabled
Dynamic Payloads = Disabled
Auto Acknowledgment = Enabled
Primary Mode = RX
TX address = 0x65646f4e32
pipe 0 ( open ) bound = 0x65646f4e31 1Node
pipe 1 (closed) bound = 0x65646f4e31
pipe 2 (closed) bound = 0xc3
pipe 3 (closed) bound = 0xc4
pipe 4 (closed) bound = 0xc5
pipe 5 (closed) bound = 0xc6
------------------------------------
+++ (v 1.4) Minie + Arduino UNO: receptor en marxa +++
... que correspon a la del codi "1_send.py" del R3 :
--- CONFIGURACIÓ ACTUAL DE LA RASPBERRY PI ---
================ SPI Configuration ================
CSN Pin = /dev/spidev0.0
CE Pin = Custom GPIO22
SPI Frequency = 10 Mhz
================ NRF Configuration ================
Channel = 76 (~ 2476 MHz)
Model = nRF24L01+
RF Data Rate = 2 MBPS
RF Power Amplifier = PA_LOW
RF Low Noise Amplifier = Enabled
CRC Length = 16 bits
Address Length = 5 bytes
Static Payload Length = 32 bytes
Auto Retry Delay = 4000 microseconds
Auto Retry Attempts = 15 maximum
Multicast = Disabled
Custom ACK Payload = Disabled
Dynamic Payloads = Disabled
Auto Acknowledgment = Enabled
Primary Mode = TX
TX address = 0x65646f4e31 1Node
pipe 0 ( open ) bound = 0x65646f4e31
pipe 1 ( open ) bound = 0x65646f4e32
pipe 2 (closed) bound = 0xc3
pipe 3 (closed) bound = 0xc4
pipe 4 (closed) bound = 0xc5
pipe 5 (closed) bound = 0xc6
---------------------------------------------
+++ (v 1.5) Raspberry Pi 3: Emissora en marxa +++
comunicació Arduino - Raspberry per antena : codi Arduino "sender"
tx_sag.ino + 2_recv.py
*** (v 1.1.a) RF24 sender started ***
SPI Frequency = 10 Mhz
Channel = 77 (~ 2477 MHz)
Model = nRF24L01+
RF Data Rate = 2 MBPS
RF Power Amplifier = PA_LOW
RF Low Noise Amplifier = Enabled
CRC Length = 16 bits
Address Length = 5 bytes
Static Payload Length = 32 bytes
Auto Retry Delay = 1500 microseconds
Auto Retry Attempts = 15 maximum
Multicast = Disabled
Custom ACK Payload = Disabled
Dynamic Payloads = Disabled
Auto Acknowledgment = Enabled
Primary Mode = TX
TX address = 0x65646f4e32
pipe 0 ( open ) bound = 0x65646f4e32 2Node
pipe 1 (closed) bound = 0x65646f4e31
pipe 2 (closed) bound = 0xc3
pipe 3 (closed) bound = 0xc4
pipe 4 (closed) bound = 0xc5
pipe 5 (closed) bound = 0xc6
pi@r3-64gb:~/python/nrf $ ./2_recv.py
*** (v 1.1.a) RF24 receiver started ***
================ SPI Configuration ================
CSN Pin = /dev/spidev0.0
CE Pin = Custom GPIO22
SPI Frequency = 10 Mhz
================ NRF Configuration ================
Channel = 77 (~ 2477 MHz)
Model = nRF24L01+
RF Data Rate = 2 MBPS
RF Power Amplifier = PA_LOW
RF Low Noise Amplifier = Enabled
CRC Length = 16 bits
Address Length = 5 bytes
Static Payload Length = 32 bytes
Auto Retry Delay = 4000 microseconds
Auto Retry Attempts = 15 maximum
Multicast = Disabled
Custom ACK Payload = Disabled
Dynamic Payloads = Disabled
Auto Acknowledgment = Enabled
Primary Mode = RX
TX address = 0x65646f4e31
pipe 0 (closed) bound = 0x65646f4e31
pipe 1 ( open ) bound = 0x65646f4e32 2Node
pipe 2 (closed) bound = 0xc3
pipe 3 (closed) bound = 0xc4
pipe 4 (closed) bound = 0xc5
pipe 5 (closed) bound = 0xc6
Gemini dixit :
Conflicte d'adreça d'ACK al Transmissor (TX):
El transmissor envia el paquet cap a l'adreça 0x65646f4e32 (configurada a la seva Pipe 0).
Com que Auto-Ack està activat, en acabar d'enviar el paquet, el transmissor passa un instant a mode escolta a la Pipe 0 esperant la confirmació de recepció (ACK) des del receptor.
El receptor rep el paquet a la seva Pipe 1 (0x65646f4e32) i automàticament genera un ACK cap a la TX address que té configurada (0x65646f4e31).
Com que la Pipe 0 del transmissor està escoltant a 0x65646f4e32 i l'ACK torna dirigit a 0x65646f4e31, el transmissor no detecta la confirmació, considera l'enviament com a fallit (MAX_RT) i descarta la comunicació.
Solucio :
radio.openWritingPipe(address) # per on enviar el ACK
radio.openReadingPipe(1, address) # configure 5-byte target
radio.startListening() # posar en mode escolta
URLs Raspberry - antenes - Arduino
- llibreria v1.3.11
https://github.com/tmrh20/RF24 {gone},
https://github.com/nRF24/RF24 + docu
- Arduino and NRF24L01 sample code - Luis Llamas,
codi sencill, esquemes no valids
- How nRF24L01+ Wireless Module Works & Interface with Arduino :
comunicació Arduino 2 Arduino [***] -
cablejat, codi tx i rx
- codi Arduino de electronoobs :
tx , rx ,
link to
RF24 llibrary
- simple nRF24L01+ tutorial - Arduinoi code, tx & rx ; concepts
- Nrf24L01-2.4GHz-HowTo - read "power_problems" !
Gemini diu : Un consell important per al NRF24L01: Aquest mòdul és molt sensible als sorolls de l'alimentació.
Moltes vegades no funciona de manera estable si no li soldes un petit condensador d'uns 10 µF directament entre els seus pins de VCC i GND. - nrf24 examples
Elegoo help, links, etc
- download tutorial from http://www.elegoo.com/download
- assembling or testing questions ?
service@elegoo.com (NA) or euservice@elegoo.com (Europe, UK, Asia and Australia)
- Elegoo Robot Car Kit V3.0 Plus assembly tutorial (video)
- Elegoo Robot Car Kit V3.0 Plus functions demonstration (video)
- dubious engineering - is it worth it? - review, build, assembly and test! (video)
- Elegoo Smart Car Shield V3.0 (pdf)
- 3x videos :
part 1 ,
article ;
part 2 ,
article ;
part 3 ,
article ;
- hacking sketch build process
-
I found a free IDE for Chromebooks - it’s a Chrome extension called Chromduino.
The Arduino sketches can be put in your Google Drive and opened from there into Chromduino.
Then you can load them onto the robot car.
