issaom
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RC tank on Arduino

Radio-controlled tank firing plastic balls

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RC tank on Arduino

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Schematics

Circuit board

Code

transmitter_tank_v1.ino

Arduino
#include <LiquidCrystal.h>
LiquidCrystal lcd(2, 3, 4, 5, 6, 7);

byte buttonS = 0;            //  
byte buttonS_OLD = 0;        //   int  connect = 0;     
int  connect_OK = 0;         //   ?

byte go_Old = 14;            //    
byte go_New = 14;            //    
byte adj_Old = 20;           //   
byte adj_New = 20;           //   
byte motor_Send = 14;        //     
byte bounce_b = 50;          //  

const int pinZ = 57;         //       
const int pinX = A1;         //  X 
const int pinY = A2;         //  Y 
int jvalueX;                 //   X 
int jvalueY;                        //   Y 
byte turret = 0;                    //    (1  X+, 2  X-)
boolean turret_stop = false;        //    (1  X+, 2  X-)

void setup() {

Serial1.begin(9600);         //open port APC220

pinMode(57, INPUT);

pinMode(36, INPUT_PULLUP);   // light        - 
pinMode(37, INPUT_PULLUP);   // laser Sight  -  
pinMode(38, INPUT_PULLUP);   // gun          - 

pinMode(22 , INPUT_PULLUP);
pinMode(23 , INPUT_PULLUP);
pinMode(24 , INPUT_PULLUP);
pinMode(25 , INPUT_PULLUP);
pinMode(26 , INPUT_PULLUP);
pinMode(27 , INPUT_PULLUP);
pinMode(28 , INPUT_PULLUP);

pinMode(29 , INPUT_PULLUP);
pinMode(30 , INPUT_PULLUP);
pinMode(31 , INPUT_PULLUP);
pinMode(32 , INPUT_PULLUP);
pinMode(33 , INPUT_PULLUP);
pinMode(34 , INPUT_PULLUP);
pinMode(35 , INPUT_PULLUP);


//    
lcd.begin(20, 4);
lcd.setCursor(8, 0);
lcd.print("LSG");
lcd.setCursor(8, 1);
lcd.print("000");
lcd.setCursor(8, 2);
lcd.print("---");
lcd.setCursor(0, 4);
lcd.print("link--");

//    
lcd.setCursor(0, 0);
lcd.print(go_New);
lcd.setCursor(0, 1);
lcd.print(adj_New);

//   

lcd.setCursor(15, 1);
lcd.print("j");


}

//---------------------------------------------------|
//     2- |
//---------------------------------------------------|
int Byte2sendFunction(byte BYTE1, byte BYTE2){
  int result;
//        !!!
  Serial1.setTimeout(2000);
// 2 2-    
  byte Byte2send[2] = {0,0};      //
  byte Byte2receipt[2] = {0,0};   //
//  
  Byte2send[0] = BYTE1;
  Byte2send[1] = BYTE2; 
//   
  Serial1.write (Byte2send,2);
//          
  Serial1.readBytes(Byte2receipt,2);
//   
  if ((Byte2send[0] == Byte2receipt[0])&&(Byte2send[1] == Byte2receipt[1])) {
//     result = 1  0      
  result = 1;
  lcd.setCursor(5, 4);
  lcd.print("Y"); //    !!!
  } else {
  result = 0;
  lcd.setCursor(5, 4);
  lcd.print("N"); //    !!!
  }
//     
  return result;
}
//---------------------------------------------------|

void loop() {
  
//---------------------------------------------------|
//                !!!               |
//---------------------------------------------------|

if (!digitalRead(36)) {      // 
bitWrite(buttonS, 0, !(bitRead(buttonS, 0))); //   
lcd.setCursor(8, 1);
lcd.print(bitRead(buttonS, 0));
}

if (!digitalRead(37)) {      // 
bitWrite(buttonS, 1, !(bitRead(buttonS, 1))); //   
lcd.setCursor(9, 1);
lcd.print(bitRead(buttonS, 1));
}

// 
bitWrite(buttonS, 2, !digitalRead(38));      //   
lcd.setCursor(10, 1);
lcd.print(bitRead(buttonS, 2));

//---------------------------------------------------|
//          |
//---------------------------------------------------|
if (buttonS!=buttonS_OLD) {
connect_OK = Byte2sendFunction(1,buttonS);
buttonS_OLD = buttonS;
//    !!!
if (connect_OK == 1) {
lcd.setCursor(8, 2);
lcd.print(bitRead(buttonS, 0));
lcd.setCursor(9, 2);
lcd.print(bitRead(buttonS, 1));  
lcd.setCursor(10,2);
lcd.print(bitRead(buttonS, 2));    
}
//     !!!
if (connect_OK == 0) {
lcd.setCursor(8, 2);
lcd.print("---");  
}
}

//---------------------------------------------------|
//                 !!!           |
//---------------------------------------------------|
adj_New = 20;

if (!digitalRead(32)) {
delay(bounce_b);
if (!digitalRead(25)) go_New = 14; else adj_New = 32;  
}

if (!digitalRead(25)) {
delay(bounce_b);
if (!digitalRead(32)) go_New = 14; else adj_New = 25;  
}

if (!digitalRead(31)) {
delay(bounce_b);
if (!digitalRead(24)) go_New = 15; else adj_New = 31;  
}

if (!digitalRead(24)) {
delay(bounce_b);
if (!digitalRead(31)) go_New = 15; else adj_New = 24;  
}

if (!digitalRead(30)) {
delay(bounce_b);
if (!digitalRead(23)) go_New = 16; else adj_New = 30;  
}

if (!digitalRead(23)) {
delay(bounce_b);
if (!digitalRead(30)) go_New = 16; else adj_New = 23;  
}

if (!digitalRead(29)) {
delay(bounce_b);
if (!digitalRead(22)) go_New = 17; else adj_New = 29;  
}

if (!digitalRead(22)) {
delay(bounce_b);
if (!digitalRead(29)) go_New = 17; else adj_New = 22;  
}

if (!digitalRead(33)) {
delay(bounce_b);
if (!digitalRead(26)) go_New = 13; else adj_New = 33;  
}

if (!digitalRead(26)) {
delay(bounce_b);
if (!digitalRead(33)) go_New = 13; else adj_New = 26;  
}

if (!digitalRead(34)) {
delay(bounce_b);
if (!digitalRead(27)) go_New = 12; else adj_New = 34;  
}

if (!digitalRead(27)) {
delay(bounce_b);
if (!digitalRead(34)) go_New = 12; else adj_New = 27;  
}

if (!digitalRead(35)) {
delay(bounce_b);
if (!digitalRead(28)) go_New = 11; else adj_New = 35;  
}

if (!digitalRead(28)) {
delay(bounce_b);
if (!digitalRead(35)) go_New = 11; else adj_New = 28;  
}

if ((go_Old != go_New) || (adj_Old != adj_New)){
//     
lcd.setCursor(0, 0);
lcd.print(go_New);
lcd.setCursor(0, 1);
lcd.print(adj_New);

if (adj_New > 20) {   //     
motor_Send = adj_New;
adj_Old = adj_New;  
} else {              //  
motor_Send = go_New;  
go_Old = go_New;
adj_Old = 20;         //   
}
//     !!!

connect_OK = Byte2sendFunction(2,motor_Send);

//    !!!
if (connect_OK == 1) {
lcd.setCursor(0, 2);
lcd.print(motor_Send);
}
//     !!!
if (connect_OK == 0) {
lcd.setCursor(0, 2);
lcd.print("--");  
}

} //    


//---------------------------------------------------|
//                             !!!           |
//---------------------------------------------------|

//  !!!
if (digitalRead(pinZ)) {
lcd.setCursor(16, 0);
lcd.print("Z");    
} else {
lcd.setCursor(16, 0);
lcd.print("z");  
}

// 
jvalueX = analogRead(pinX);
jvalueY = analogRead(pinY); 
turret = 0;
//0-  -    
//1-  -    
if (jvalueX > 712) bitWrite(turret, 0, 1);
if (jvalueX < 312) bitWrite(turret, 1, 1);
//4  "  "
if ((jvalueX > 1013)||(jvalueX < 10)) bitWrite(turret, 4, 1);

//      
lcd.setCursor(16, 1);
lcd.print(bitRead(turret,0));
lcd.setCursor(14, 1);
lcd.print(bitRead(turret,1));

//2-  -  
//3-  -  
if (jvalueY > 712) bitWrite(turret, 2, 1);
if (jvalueY < 312) bitWrite(turret, 3, 1);
//      Y
lcd.setCursor(15, 0);
lcd.print(bitRead(turret,2));
lcd.setCursor(15, 1);
lcd.print(bitRead(turret,3));

lcd.setCursor(15, 2);
lcd.print("    ");
lcd.setCursor(15, 2);
lcd.print(jvalueX);

if (turret !=0) {
connect_OK = Byte2sendFunction(3,turret);
turret_stop = true;  
}

if ((turret == 0) && (turret_stop)) {                                                               
connect_OK = Byte2sendFunction(3,0);
turret_stop = false;  
}

}

receiver_tank_v1.ino

Arduino
#include <Servo.h>
Servo servoX;
Servo servoY;

byte X = 87;
byte Xmin = 10;
byte Xmax = 165;

byte Xplus = 0;
byte Yplus = 0;

byte Y = 78;
byte Ymin = 60;
byte Ymax = 103;
byte turret = 0;                  //    (1  X+, 2  X-)

byte IncomingCount = 0;           //  
byte Byte2incoming[2] = {0,0};    //  
byte b_registry = 0;              //    

byte laserPWM = 128;
byte buttonS = 0;                 //   

byte motorS = 14;                 //  
byte Speed1_pwm = 56;             //  
byte Speed2_pwm = 96;             //   
byte Speed3_pwm = 255;            // 
byte Speed1RL_pwm = 88;           //  
byte Speed2RL_pwm = 112;          //   
byte Speed3RL_pwm = 255;          // 
byte Speed0RL_pwm = 128;          //  


void setup() {

Serial.begin(9600);
//        !!!
Serial.setTimeout(500);
  
pinMode(02, OUTPUT); // light - 
pinMode(06, OUTPUT); // laser - 
pinMode(11, OUTPUT); // gun   - 
pinMode(13, OUTPUT); //  

//   L298N
pinMode(3, OUTPUT);  //D3 - ENA
pinMode(17, OUTPUT); //AO - INPUT1
pinMode(16, OUTPUT); //A1 - INPUT2

pinMode(15, OUTPUT); //A2 - INPUT3
pinMode(14, OUTPUT); //A3 - INPUT4
pinMode(5, OUTPUT);  //D5 - ENB

servoX.attach(9);
servoY.attach(10);
//    
servoX.write(X);
servoY.write(Y);
}

void loop() {

//   1.5  2- 
//   1.5       
//        

IncomingCount = Serial.readBytes(Byte2incoming,2);

if (IncomingCount > 1) { // 2  -    
//digitalWrite(13, LOW);
//    2-  !!!
b_registry = Byte2incoming[0];
//    !!!
if (b_registry == 1) buttonS  = Byte2incoming[1];
//    !!!
if (b_registry == 2) motorS  =  Byte2incoming[1];
//   !!!
if (b_registry == 3) turret  =  Byte2incoming[1];

// 2   -  
Serial.write (Byte2incoming,2);  
} else {     //    ( )    1.5 
//digitalWrite(13, HIGH);
//  -   !!!
}

//---------------------------------------------------|
//                             |
//---------------------------------------------------|

digitalWrite(02,bitRead(buttonS, 0));  // light - 

if (bitRead(buttonS, 1)) {             // laser Sight -  
analogWrite(6, laserPWM);              //  
} else analogWrite(6, 0);

if (bitRead(buttonS, 2)) {  // 
analogWrite(11,160);        //   
delay(125);                 //   pwm160                
analogWrite(11,0);          //  125ms
bitWrite(buttonS, 2, 0);    //   
}

//---------------------------------------------------|
//           L298N                     |
//---------------------------------------------------|

if (motorS == 14){    
// 
analogWrite(3, 0);          //D3 - ENA
digitalWrite(14, 0);        //AO - INPUT1
digitalWrite(15, 0);        //A1 - INPUT2
// 
analogWrite(5, 0);          //D5 - ENA
digitalWrite(16, 0);        //A2 - INPUT3
digitalWrite(17, 0);        //A3 - INPUT4
}

//

if (motorS == 15){    
//  
analogWrite(3, Speed1_pwm);     //D3 - ENA
digitalWrite(16, 1);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed1_pwm);     //D5 - ENA
digitalWrite(14, 1);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 13){    
//  
analogWrite(3, Speed1_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 1);            //A1 - INPUT2
//   
analogWrite(5, Speed1_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 1);            //A3 - INPUT4
}

if (motorS == 24){    
//  
analogWrite(3, Speed1RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed1RL_pwm);     //D5 - ENA
digitalWrite(14, 1);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 31){    
//  
analogWrite(3, Speed1RL_pwm);     //D3 - ENA
digitalWrite(16, 1);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed1RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 26){    
//  
analogWrite(3, Speed1RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed1RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 1);            //A3 - INPUT4
}

if (motorS == 33){    
//  
analogWrite(3, Speed1RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 1);            //A1 - INPUT2
//   
analogWrite(5, Speed1RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}   


//

if (motorS == 17){    
//  
analogWrite(3, Speed3_pwm);     //D3 - ENA
digitalWrite(16, 1);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed3_pwm);     //D5 - ENA
digitalWrite(14, 1);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 11){    
//  
analogWrite(3, Speed3_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 1);            //A1 - INPUT2
//   
analogWrite(5, Speed3_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 1);            //A3 - INPUT4
}

if (motorS == 22){    
//  
analogWrite(3, Speed3RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed3RL_pwm);     //D5 - ENA
digitalWrite(14, 1);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 29){    
//  
analogWrite(3, Speed3RL_pwm);     //D3 - ENA
digitalWrite(16, 1);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed3RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 28){    
//  
analogWrite(3, Speed3RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed3RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 1);            //A3 - INPUT4
}

if (motorS == 35){    
//  
analogWrite(3, Speed3RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 1);            //A1 - INPUT2
//   
analogWrite(5, Speed3RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}   

// 4   



//4   

if (motorS == 16){    
//  
analogWrite(3, Speed2_pwm);     //D3 - ENA
digitalWrite(16, 1);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed2_pwm);     //D5 - ENA
digitalWrite(14, 1);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 12){    
//  
analogWrite(3, Speed2_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 1);            //A1 - INPUT2
//   
analogWrite(5, Speed2_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 1);            //A3 - INPUT4
}

if (motorS == 23){    
//  
analogWrite(3, Speed2RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed2RL_pwm);     //D5 - ENA
digitalWrite(14, 1);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 30){    
//  
analogWrite(3, Speed2RL_pwm);     //D3 - ENA
digitalWrite(16, 1);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed2RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 0);            //A3 - INPUT4
}

if (motorS == 27){    
//  
analogWrite(3, Speed2RL_pwm);     //D3 - ENA
digitalWrite(16, 0);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//   
analogWrite(5, Speed2RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 1);            //A3 - INPUT4
}

if (motorS == 34){    
//  
analogWrite(3, Speed2RL_pwm);     //D3 - ENA
digitalWrite(16, 0);              //AO - INPUT1
digitalWrite(17, 1);              //A1 - INPUT2
//   
analogWrite(5, Speed2RL_pwm);     //D5 - ENA
digitalWrite(14, 0);              //A2 - INPUT3
digitalWrite(15, 0);              //A3 - INPUT4
}   

// 4  

//  

if (motorS == 32){    
// 
analogWrite(3, Speed0RL_pwm);     //D3 - ENA
digitalWrite(16, 1);            //AO - INPUT1
digitalWrite(17, 0);            //A1 - INPUT2
//  
analogWrite(5, Speed0RL_pwm);     //D5 - ENA
digitalWrite(14, 0);            //A2 - INPUT3
digitalWrite(15, 1);            //A3 - INPUT4
}

if (motorS == 25){    
// 
analogWrite(3, Speed0RL_pwm);     //D3 - ENA
digitalWrite(16, 0);              //AO - INPUT1
digitalWrite(17, 1);              //A1 - INPUT2
//  
analogWrite(5, Speed0RL_pwm);     //D5 - ENA
digitalWrite(14, 1);              //A2 - INPUT3
digitalWrite(15, 0);              //A3 - INPUT4
}   

//  

if (bitRead(turret,4)) Xplus = Xplus + 1; else Xplus = 0;

if (bitRead(turret,1) && ((X<Xmax))) X=X+1+Xplus;
if (bitRead(turret,0) && ((X>Xmin))) X=X-1-Xplus; 

servoX.write(X);  

if (bitRead(turret,3) && ((Y<Ymax))) Y=Y+1;
if (bitRead(turret,2) && ((Y>Ymin))) Y=Y-1;

servoY.write(Y);

}

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issaom

issaom

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