SMARS v2 firmware
SMARS robot firmware with radio control SMARS project on Thingiverse
smars_v2.ino
SMARS firmware for the robot itself.
Uses 9V battery for power, will soon be replaced by DIY 18650 power-bank. Motor shield is on top of the mainboard, then radio adapter is plugged into pins D2-D6.
Uses Arduino Uno, nRF24L01 radio module and RobotDyn L298P Motor shield clone. Radio is connected via software SPI (DigitalIO.h + RF24.h in SOFT_SPI mode) as hardware spi pins are occupied by the motor shield (very unhappy about this, but it works). Radio Pinout:
| nRF24L01 Pin | Arduino Pin |
|---|---|
| CE | D2 |
| CSN | D3 |
| SCK | D4 |
| MOSI | D5 |
| MISO | D6 |
| IRQ | Not connected |
I have it connected to the pins with RobotDyn nRF24L01 adapter, it also handles power conversion, so I can feed it 5V from Arduino.
smars_transmitter.ino
SMARS transmitter with one joysick.
Reads joystick value and just sends it to the receiver. All input mapping is done on the robot side for now.
TODO:
- add second joy axis and implement tank-like tread movement as described here
- add support for battery voltage level check and reporting back to the transmitter (two-way communication)