SMARS robot firmware with radio control SMARS project on Thingiverse
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 with one joysick.
Reads joystick value and just sends it to the receiver. All input mapping is done on the robot side for now.
- 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)