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#include <STC15W4K60S2.H>
#include <NRF24L01.H>
#include <AD.H>
#include <intrins.h>
uchar TxBuf[20]={0};
uchar RxBuf[20]={0};
unsigned int ax,ay,bx,by;
unsigned int cx,cy,dx,dy;
/*
P1.2 左上下
P1.3 左左右有問題
P1.4 右上下
P1.5 右左右
*/
void AD() //獲取AD采樣值 P1ASF=0x3c
{
cx=getADCResult(3); //左 X 左左右 =cx
Delay(5);
cy=getADCResult(2); //左 Y 左上下 =cy
Delay(5);
dx=getADCResult(5); //右 X 右左右 =dx
Delay(5);
dy=getADCResult(4); //右 Y 右上下 =dy
Delay(5);
}
void main()
{
P0M0=0x00;
P0M1=0x00;
P1M0=0x00;
P1M1=0x3c;
P2M0=0x00;
P2M1=0x00;
P3M0=0x00;
P3M1=0x00;
P4M0=0x00;
P4M1=0x00;
P5M0=0x00;
P5M1=0x00;
P6M0=0x00;
P6M1=0x00;
P7M0=0x00;
P7M1=0x00;
//TxBUf[4] TRO 1俯仰 2橫滾 3偏航
//左 X 左左右 =cx
//左 Y 左上下 =cy
//右 X 右左右 =dx
//右 Y 右上下 =dy
init_NRF24L01(); //2401初始化
adc_init(); // adc初始化
ay=getADCResult(2)-128;
Delay(5);
ax=getADCResult(3)-128;
Delay(5);
bx=getADCResult(5)-128;
Delay(5);
by=getADCResult(4)-128;
Delay(5);
TxBuf[1]=128; //設(shè)置遙桿中值
TxBuf[2]=128;
TxBuf[3]=128;
TxBuf[4]=128;
while(1)
{
AD(); //adc采集數(shù)據(jù) 返回順序 3 2 5 4
TxBuf[0]++; //前和左右邊太軟，可能機械問題
if((cx-ax)>=255){TxBuf[3]=255;} else if((cx-ax)<=0){TxBuf[3]=0;}else TxBuf[3]=cx-ax;
if((dx-bx)>=255){TxBuf[2]=255;} else if((dx-bx)<=0){TxBuf[2]=0;}else TxBuf[2]=dx-bx;
if((255-cy)>=255){TxBuf[1]=255;} else if((255-cy)<=0){TxBuf[1]=0;}else TxBuf[1]=255-cy;
if((255-dy)>=255){TxBuf[4]=255;} else if((255-dy)<=0){TxBuf[4]=0;}else TxBuf[4]=255-dy;
//TxBuf[4]=255-dy;
nRF24L01_TxPacket(TxBuf);//發(fā)送 tx_buf中數(shù)據(jù)
Delay(1000);
}
}

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