Home Made 4*4 Racing Vehicle

 4*4 Racing Vehicle

Power Drive Unit

It a set of motor and gear to reduce/increase RPM and  Torque

Receiver and Transmitter circuit diagram

Transmitter

Receiver

TRANSMITTER CODES:-//SUBSCRIBE "TESTFEST"

// 6 Channel Transmitter |

  #include <SPI.h>

  #include <nRF24L01.h>

  #include <RF24.h>

  const uint64_t pipeOut = 0xE9E8F0F0E1LL;   //IMPORTANT: The same as in the receiver 0xE9E8F0F0E1LL | 

  RF24 radio(9, 10); // select CE,CSN pin | 

  struct Signal {

  byte throttle;

  byte pitch;

  byte roll;

  byte yaw;

  byte aux1;

  byte aux2;

//#define SW1 D4;

//#define SW2 D5;

};

  Signal data;

  void ResetData() 

{

  data.throttle = 0;   // Motor stop | Motor Kapalı (Signal lost position | 

  data.pitch = 127;    // Center | Merkez (Signal lost position | 

  data.roll = 127;     // Center | merkez (Signal lost position | 

  data.yaw = 127;     // Center | merkez (Signal lost position | 

  data.aux1 = 0;    // Center | merkez (Signal lost position | 

  data.aux2 = 0;    // Center | merkez (Signal lost position | 

}

  void setup()

{

  //Start everything up

  radio.begin();

  radio.openWritingPipe(pipeOut);

  radio.setAutoAck(false);

  radio.setDataRate(RF24_250KBPS);

  radio.setPALevel(RF24_PA_HIGH);

  radio.stopListening(); //start the radio comunication for Transmitter | 

  ResetData();

//  pinMode(SW1,INPUT_PULLUP);

//  pinMode(SW2,INPUT_PULLUP);

 

}

  // Joystick center and its borders | 

  int mapJoystickValues(int val, int lower, int middle, int upper, bool reverse)

{

  val = constrain(val, lower, upper);

  if ( val < middle )

  val = map(val, lower, middle, 0, 128);

  else

  val = map(val, middle, upper, 128, 255);

  return ( reverse ? 255 - val : val );

}

  void loop()

{

  // Control Stick Calibration 

  // Setting may be required for the correct values of the control levers. | :Kontrol kolların doğru değerleri için ayar gerekebilir.

  data.throttle = mapJoystickValues( analogRead(A0), 13, 512, 1024, true );  // "true" or "false" for signal direction | 

  data.roll = mapJoystickValues( analogRead(A3), 0, 516, 1024, true );      // "true" or "false" for servo direction | 

  data.pitch = mapJoystickValues( analogRead(A2), 0, 526, 1024, false );     // "true" or "false" for servo direction | 

  data.yaw = mapJoystickValues( analogRead(A1), 0, 502, 1024, false );       // "true" or "false" for servo direction | 

 data.aux1 =  digitalRead(4); 

 data.aux2 =  digitalRead(5);    

//  int SWITCH[2];

//  SWITCH[0] = digitalRead(SW1);

//  SWITCH[1] = digitalRead(SW2);

//    

//  radio.write(&switch,sizeof(Switch));

  

  

  radio.write(&data, sizeof(Signal));

  

  

  

}

RECEIVER CODES:-//  6 Channel Receiver | 

//  PWM output on pins D2, D3, D4, D5, D6, D7 

#include <SPI.h>

#include <nRF24L01.h>

#include <RF24.h>

#include <Servo.h>

int ch_width_1 = 0;

int ch_width_2 = 0;

int ch_width_3 = 0;

int ch_width_4 = 0;

int ch_width_5 = 0;

int ch_width_6 = 0;

Servo ch1;

Servo ch2;

Servo ch3;

Servo ch4;

Servo ch5;

Servo ch6;

struct Signal {

byte throttle;      

byte pitch;

byte roll;

byte yaw;

byte aux1;

byte aux2;

};

Signal data;

const uint64_t pipeIn = 0xE9E8F0F0E1LL;

RF24 radio(9, 10); 

void ResetData()

{

// Define the inicial value of each data input. | 

// The middle position for Potenciometers. (254/2=127) |

data.roll = 127;   // Center | 

data.pitch = 127;  // Center | 

data.throttle = 13; // Motor Stop | 

data.yaw = 127;   // Center | 

data.aux1 = 0;   // Center |

data.aux2 = 0;   // Center |

}

void setup()

{

  //Set the pins for each PWM signal | Her bir PWM sinyal 

  ch1.attach(2);

  ch2.attach(3);

  ch3.attach(4);

  ch4.attach(5);

  ch5.attach(6);

  ch6.attach(7);

   

  //Configure the NRF24 module

  ResetData();

  radio.begin();

  radio.openReadingPipe(1,pipeIn);

  radio.setAutoAck(false);

  radio.setDataRate(RF24_250KBPS);

  radio.setPALevel(RF24_PA_HIGH);

  radio.startListening(); //start the radio comunication for receiver | 

  pinMode(6,OUTPUT);

 

}

unsigned long lastRecvTime = 0;

void recvData()

{

while ( radio.available() ) {

radio.read(&data, sizeof(Signal));

lastRecvTime = millis();   // receive the data | 

}

}

void loop()

{

recvData();

unsigned long now = millis();

if ( now - lastRecvTime > 1000 ) {

ResetData(); // Signal lost.. Reset data | 

ch_width_4 = map(data.yaw,      0, 255, 1000, 2000);     // pin D5 (PWM signal)

ch_width_2 = map(data.pitch,    0, 255, 1000, 2000);     // pin D3 (PWM signal)

ch_width_3 = map(data.throttle, 0, 255, 1000, 2000);     // pin D4 (PWM signal)

ch_width_1 = map(data.roll,     0, 255, 1000, 2000);     // pin D2 (PWM signal)

ch_width_5 = map(data.aux1,       0, 1, 1000, 2000);     // pin D6 (PWM signal)

ch_width_6 = map(data.aux2,     0, 1, 1000, 2000);     // pin D7 (PWM signal)

//ch_width_5 = map(data.aux1,

//int AUX[2];

//radio.read(&,sizeof(Signal));

//if([CH_width_5]==0){

//  digitalWrite(CH_width_5,1);

//}

//if([CH_width_5]==1){

//  digitalWrite(CH_width_5,0);

//}

//  if([CH_width_6]==0){

//  digitalWrite(CH_width_6,1);

//  }

//

//  if([CH_width_6]==1){

//  digitalWrite(CH_width_6,0);

//  }

  

// Write the PWM signal | PWM 

ch1.writeMicroseconds(ch_width_1);

ch2.writeMicroseconds(ch_width_2);

ch3.writeMicroseconds(ch_width_3);

ch4.writeMicroseconds(ch_width_4);

ch5.writeMicroseconds(ch_width_5);

ch6.writeMicroseconds(ch_width_6);

}

Relay Circuit Diagram

MY YOUTUBE VIDEO Link:-https://youtu.be/H50VzS396ao

Drive 4x4 RC

My Youtube video link:-https://youtu.be/rdlo0gBBVK0