wireless working

Joysticks.h

@@ -112,7 +112,7 @@ joyStickdataStruct JoystickGet(bool debug = false)
     {
       Serial.print(i);
       Serial.print("_");
-      Serial.print(outputValue);
+      Serial.print(myJoyStickdataStruct.value[i]);
       if (i != 5)
         Serial.print(",");
       //    Serial.print(" ");

Nrf.h

@@ -1,65 +1,43 @@
 #include <SPI.h>
 #include "RF24.h"
+#include <RF24Network.h>
 #include "TransferDataStructure.h"
 
 // Nrf24 settings
-byte addresses[][6] = {"1Node", "2Node"};
 RF24 radio(9, 10); // CE, CSN
+RF24Network network(radio);
+
+const uint16_t this_node = 00;        // Address of our node in Octal format
+const uint16_t other_node = 01;       // Address of the other node in Octal format
 
 void NrfInit()
 {
+  SPI.begin();
   radio.begin();
+  network.begin(/*channel*/ 90, /*node address*/ this_node);
 
   // Set the PA Level low to prevent power supply related issues since this is a
   // getting_started sketch, and the likelihood of close proximity of the devices. RF24_PA_MAX is default.
   radio.setPALevel(RF24_PA_LOW);
-
-  radio.openWritingPipe(addresses[0]);
-  radio.openReadingPipe(1, addresses[1]);
-
-  // Possibly init data object here
-
-  radio.startListening();
 }
 
 dataStruct2 NrfSendData(dataStruct2 data, bool debug = false)
 {
-  radio.stopListening();
-  // First, stop listening so we can talk.
+  network.update();
 
   if (debug)
-    Serial.println(F("Now sending"));
+    Serial.print("Sending...");
+
+  RF24NetworkHeader header(/*to node*/ other_node);
+  bool ok = network.write(header, &data, sizeof(data));
 
-  if (!radio.write( &data, sizeof(data) )) {
   if (debug)
-      Serial.println(F("failed"));
-    return data;
+  {
+    if (ok)
+      Serial.println("ok.");
+    else
+      Serial.println("failed.");
   }
 
-  radio.startListening();
-  // Now, continue listening
-
-  unsigned long started_waiting_at = micros();
-  // Set up a timeout period, get the current microseconds
-  boolean timeout = false;
-  // Set up a variable to indicate if a response was received or not
-
-  while ( ! radio.available() ) {
-    if (micros() - started_waiting_at > 200000 ) {
-      // If waited longer than 200ms, indicate timeout and exit while loop
-      timeout = true;
-      break;
-    }
-  }
-
-  if ( timeout ) {
-    if (debug)
-      Serial.println(F("Failed, response timed out."));
-    return data;
-  } else {
-    // Grab the response, compare, and send to debugging spew
-    radio.read( &data, sizeof(data) );
-
   return data;
 }
-}

SerialPasstrough.h

@@ -19,12 +19,12 @@ dataStruct2 GetSerialData(dataStruct2 dataIn, bool debug = false)
       angle = data_word.substring(data_word.indexOf('_') + 1);
 
       if (isDigit(angle[0])) // prevent error overwriting first entry.
-//        dataIn.servoPositions[channel.toInt()] = angle.toFloat();
+        dataIn.servoPositions[channel.toInt()] = angle.toFloat();
 
       index = next_index + 1;
     } while ((next_index != -1) && (next_index < maxIndex));
 
-//    dataIn.remotePasstroughControl = true;
+    dataIn.remotePasstroughControl = true;
 
     if (debug)
     {
@@ -35,7 +35,7 @@ dataStruct2 GetSerialData(dataStruct2 dataIn, bool debug = false)
       {
         Serial.print(i);
         Serial.print(", ");
-//        Serial.print(dataIn.servoPositions[i]);
+        Serial.print(dataIn.servoPositions[i]);
         Serial.println("");
       }
       Serial.println("");

remote.ino

@@ -47,12 +47,11 @@ void loop() {
   //  Serial.print("  /  AngZ = ");
   //  Serial.println(mpu.GetAngZ());
 
-  joystickData = JoystickGet(true);
+  joystickData = JoystickGet(false);
 
   data = GetSerialData(data, false);
 
-  //  data.servoPositions[0] = joystickData.value[0];
-  data.remotePasstroughControl = data.remotePasstroughControl + 1;
+  data.servoPositions[0] = joystickData.value[0];
 
   data = NrfSendData(data, true);