From 719b0fa7c5ea33bf2466dfe30f3289e52bb9b46b Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Sun, 17 Mar 2019 20:09:57 +0100
Subject: [PATCH] slower nrf data rate

---
 controller.ino | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/controller.ino b/controller.ino
index b6426d5..40147bb 100644
--- a/controller.ino
+++ b/controller.ino
@@ -95,7 +95,8 @@ void setup() {
   Serial.println("Initializing nrf24");
   
   radio.begin();
-  
+
+  radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
   
   radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
   radio.setPayloadSize(8); // optionally, reduce the payload size.  seems to improve reliability
@@ -166,13 +167,14 @@ void loop() {
       //y positive = forward
       //x positive = right
 
+      /*
       setYaw+=((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*10/127;
       while (setYaw<0){
         setYaw+=360;
       }
       while (setYaw>=360){
         setYaw-=360;
-      }
+      }*/
 
       /*
       Serial.print("setYaw=");
@@ -190,9 +192,9 @@ void loop() {
     //out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
     //out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
     out_speed=(int16_t)( ((int16_t)(lastnrfdata.speed)-NRFDATA_CENTER)*1000/127 ); //-1000 to 1000
-    //out_steer=(int16_t)( ((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*1000/127 );
+    out_steer=(int16_t)( ((int16_t)(lastnrfdata.steer)-NRFDATA_CENTER)*1000/127 );
     //Test Mag    
-    double yawdiff=(setYaw-180)-(yaw-180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
+    /*double yawdiff=(setYaw-180)-(yaw-180); //following angle difference works only for angles [-180,180]. yaw here is [0,360]
     yawdiff += (yawdiff>180) ? -360 : (yawdiff<-180) ? 360 : 0;
     //yawdiff/=2;
     int yawdiffsign=1;
@@ -204,6 +206,7 @@ void loop() {
     yawdiff*=yawdiffsign; //redo sign
     
     out_steer=(int16_t)( yawdiff );
+    */
     /*
     Serial.print("Out steer=");
     Serial.println(out_steer);*/