/* Made by Jefferson Sandoval for the Final project of FabAcademy 2021.
 *  
 * This is the official code for my Fab-RemoteControl of my Fab-OmniBot, a three-wheeled robot.
 * 
 * Uploaded to my own board that uses an ATtiny1614 microcontroller, a nRF24 radio transceiver 
 * module (as transmitter) and two joysticks.
 * 
 * Documentation:
 * http://fabacademy.org/2021/labs/kamplintfort/students/jefferson-sandoval/project/02_RemoteControl/
 */

//Libraries for Communication nRF24
#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>

RF24 radio(4, 5); //Create radio object with and CE & CSN pins
const byte address[6] = "00111"; //Transmitter communication address

void setup() {
  radio.begin(); //Initialize radio object
  radio.setPALevel(RF24_PA_LOW); //Set radio range
  radio.openWritingPipe(address); //Set address to receiver
  radio.stopListening(); //Set module as transmitter
}

void loop() {
  int Values[3]; //Declare variable for data to send
  //int Values[4]; //When using the fourth Joystick reading

  //Read values from Joysticks and convert them to percentage.
  //I mapped the values from 270 to 750 cause that is the range of the Joysticks (instead of 0-1023).
  Values[0] = map(analogRead(0),270,750,-100,100); //Left and Right movement from Joystick_Right
  Values[1] = map(analogRead(1),270,750,-100,100); //Forward and Backward movement from Joystick_Right
  Values[2] = map(analogRead(7),270,750,-100,100); //Rotation movement from Joystick_Left
  //Values[3] = map(analogRead(6),270,750,-100,100); //This adds a fourth Axis, Y movement for Joystick_Left
   
  radio.write(&Values, sizeof(Values)); //Send array of Values to Receiver

  delay(100); //Send values every 0.1 seconds
}