.

dozer_main.cpp

@@ -0,0 +1,102 @@
+#include <util/delay.h>
+#include <avr/io.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <util/setbaud.h>
+#include <Arduino.h>
+#include <lib.h>
+#include "SoftPWM.h"
+
+#include <SPI.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+
+#define CE_PIN 3
+#define CS_PIN 2
+#define RED 4
+#define GREEN 5
+
+class Radio {
+
+public:
+    RF24 instance;
+
+};
+
+class Motor {
+
+public:
+    int power;
+};
+
+
+const uint64_t dozer_pipe = 0xF0F0F0F0D2LL;
+const uint64_t remote_pipe = 0xF0F0F0F0E1LL;
+
+struct StickValues {
+    uint32_t stick_1_a;
+    uint32_t stick_1_b;
+    uint32_t stick_2_a;
+    uint32_t stick_2_b;
+};
+
+int main() {
+
+    pinMode(4, OUTPUT);
+    pinMode(5, OUTPUT);
+
+    uart_init();
+    SoftPWMBegin();
+
+    RF24 radio(CE_PIN, CS_PIN);
+    radio.begin();
+    radio.openWritingPipe(dozer_pipe);
+    radio.openReadingPipe(1, remote_pipe);
+    radio.startListening();
+
+    //digitalWrite(18, HIGH);
+    // SoftPWMSet(18, 255, 1);
+
+
+    digitalWrite(GREEN, HIGH);
+    _delay_ms(2000);
+    digitalWrite(GREEN, LOW);
+
+    bool breaking = false;
+    int cycles = 0;
+    while (!breaking) {
+
+        //unsigned long start_wait = micros();
+        bool timeout = false;
+
+        while (!radio.available()) {
+            if (cycles++ > 10) {
+                digitalWrite(RED, HIGH);
+                _delay_ms(50);
+                digitalWrite(RED, LOW);
+                _delay_ms(50);
+                timeout = true;
+                cycles = 0;
+                break;
+            }
+
+        }
+
+        if (timeout) {
+//            SoftPWMSet(17, 0);
+//            SoftPWMSet(18, 0);
+        } else {
+
+            StickValues stick_values;
+            radio.read(&stick_values, sizeof(uint32_t)*4);
+            radio.flush_rx();
+            radio.flush_tx();
+
+//            SoftPWMSet(17, stick_values.stick_1_a);
+//            SoftPWMSet(18, stick_values.stick_1_b);
+        }
+
+        SoftPWMSet(17, 80);
+        SoftPWMSet(18, 120);
+    }
+}