Basic working principle

The Arduino code is divided into two parts:

Master & Slave, Master is the control board program,

and Slave is the black eye program.

Master

Operating mechanism:

After the control panel is started, the setup() part will be initialized.

1) Initialize the NRF module and start the ACK mode.

2) Initialize Analog IO: A0 A1. Corresponding to the rocker potentiometer.

3) The initialization button is interrupted. (The button uses interrupt directly for input, not scanning. Anyway, interrupt is enough for XD)

4) Initialize the OLED and display the Black Eye icon for two seconds.

After the initialization is complete, the control board in loop() will continue to send data through NRF (command 7) and attempt to obtain an ACK return packet.

If the data of the returned packet is returned correctly, the connection is successful and the screen enters the working mode.

The following information is included in the ACK return packet: servo speed, battery voltage, image transmission switch status, and servo switch status.

Regardless of whether the connection is successful, the control board will still send control commands:

command 1/2/3/4: used to control the servo

command 5/6/8: Used to control the power supply of the servo / image transmission power / change the speed of the servo

If Command7 is sent without response for more than 3 seconds, it is determined that the connection is disconnected.

Slave

Operating mechanism:

Similar to Master, setup() initializes NRF and IO. A0 gets the battery voltage, control1/2 is used to switch the MOS tube that controls the image transmission and the power supply of the steering gear.

In loop () will continue to receive the commands from Mster, after processing, return through ack.