nippleremote_firmware/.vscode/extensions.json

@@ -1,10 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "platformio.platformio-ide"
-    ],
-    "unwantedRecommendations": [
-        "ms-vscode.cpptools-extension-pack"
-    ]
-}

nippleremote_firmware/lib/RF24

@@ -1 +1 @@
-Subproject commit b18ed8c0133e1d1502cb52ce723531f611252763
+Subproject commit ebcd0d1d0b3061fcb57444e1dbe5829ef25705cd

nippleremote_firmware/src/main.cpp

@@ -55,7 +55,7 @@ const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };  //0xF0F0F0F0xxLL,
 struct nrfdata {
   uint8_t steer; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
   uint8_t speed; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
-  uint8_t commands; //bit 0 set = motor enable, 1=left,2=up,3=down,4=right
+  uint8_t commands; //bit 0 set = motor enable
   uint8_t checksum;
 };
 
@@ -77,11 +77,17 @@ boolean motorenabled=false;
 
 #define TRACKPOINT_MAX 70 //value for maximum stick movement
 #define TRACKPOINT_MAX_ERROR 90 //if value above this amount, error is triggered (nipple position stuck. maybe fixed by slowing down reading interval)
-float speedscale=1.0;
+float speedscale=0.0;
-float steerscale=1.0;
+float steerscale=0.0;
 
 int16_t last_xin=0;
 int16_t last_yin=0;
+int16_t xin_smooth=0;
+int16_t yin_smooth=0;
+int16_t maxacc=0;
+int16_t maxacc_brake=0;
+int16_t maxaccsteer=0;
+int16_t maxaccsteer_brake=0;
 
 #define SETUP_NONE 0
 #define SETUP_WAIT 1 //waiting for input
@@ -92,7 +98,8 @@ long setupmode_waitstarttime=0; //starttime of SETUP_WAIT mode
 #define SETUP_HOLD_POWEROFF 2000 //if button held down after x ms in setup mode, power off
 #define SETUP_DONE_TIME 1000 //time to keep motors disabled after exiting setup
 #define SETUP_MOVE_THRESHOLD 275 //500*TRACKPOINT_MAX/127
-
+uint8_t speedmode=1; //0 (slow), 1(medium), 2(fast)
+#define SETUP_SPEEDMODE_MAX 2
 
 uint16_t led_ton=0; //never. time in ms for on time
 uint16_t led_toff=65535; //always
@@ -104,8 +111,6 @@ long time_lastactivity=0;
 
 boolean touching=false;
 
-uint8_t setup_directon_press=0; // 1=left,2=up,3=down,4=right
-
 int voltage=4000;
 #define VOLTAGE_WARN 3400
 /*
@@ -114,7 +119,7 @@ int voltage=4000;
 
 void sendRF(nrfdata senddata);
 long readVcc();
-
+void setup_updateSpeedmode();
 
 unsigned long last_testprint=0;
 
@@ -174,6 +179,7 @@ void setup() {
   Serial.print("Voltage=");
   Serial.println( voltage, DEC ); 
 
+  setup_updateSpeedmode(); //set speeds
   
 }
 
@@ -212,12 +218,13 @@ void loop() {
     Serial.println(d.y);
     #endif
 
+    Serial.print("DataReport: ");
+    Serial.print(d.x);
+    Serial.print(", ");
+    Serial.println(d.y);
     
   
     nrfdata senddata;
-
-    
-    
     
     //senddata.steer=map(constrain((uint8_t)(d.x+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127+(127*steerscale), 127-(127*steerscale) ); //steer
     //senddata.speed=map(constrain((uint8_t)(d.y+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127-(127*speedscale), 127+(127*speedscale) ); //speed
@@ -274,9 +281,53 @@ void loop() {
     Serial.print(", ");
     Serial.println(phi,4);*/
 
+    
+    //xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
+    //yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
+    if (maxaccsteer>0){
+      // ### X ###
+      int16_t _xaccel=xin_smooth-xin;
+      if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
+        if (_xaccel<-maxaccsteer_brake){ //limit deceleration
+          _xaccel=-maxaccsteer_brake;
+        }else if (_xaccel>maxaccsteer_brake){
+          _xaccel=maxaccsteer_brake;
+        }
+      }else{ //not braking
+        if (_xaccel<-maxaccsteer){ //limit acceleration
+          _xaccel=-maxaccsteer;
+        }else if (_xaccel>maxaccsteer){
+          _xaccel=maxaccsteer;
+        }
+      }
+      xin_smooth-=_xaccel; //update value
 
-    senddata.steer=map(xin, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
+    }else{ //no acc limit
-    senddata.speed=map(yin, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
+      xin_smooth=xin; //update immediately
+    }
+    if (maxacc>0){
+      // ### Y ###
+      int16_t _yaccel=yin_smooth-yin;
+      if ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
+        if (_yaccel<-maxacc_brake){ //limit deceleration
+          _yaccel=-maxacc_brake;
+        }else if (_yaccel>maxacc_brake){
+          _yaccel=maxacc_brake;
+        }
+      }else{ //not braking
+        if (_yaccel<-maxacc){ //limit acceleration
+          _yaccel=-maxacc;
+        }else if (_yaccel>maxacc){
+          _yaccel=maxacc;
+        }
+      }
+      yin_smooth-=_yaccel; //update value
+    }else{ //no acc limit
+      yin_smooth=yin;
+    }
+
+    senddata.steer=map(xin_smooth, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
+    senddata.speed=map(yin_smooth, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
     
     senddata.commands=0; //reset
     
@@ -284,15 +335,11 @@ void loop() {
       //senddata.steer=127; //stop
       //senddata.speed=127;
       senddata.commands|= 0 << 0; //motorenabled send false
-      
+      xin_smooth=0; //reset smooth value
+      yin_smooth=0;
     }else{
       senddata.commands|= motorenabled << 0; //motorenabled is bit 0
     }
-
-    if (setup_directon_press!=0) {
-      senddata.commands|= 1 << setup_directon_press; //motorenabled is bit 0
-      setup_directon_press=0; //reset after sending
-    }
     
     #ifdef DEBUG
     Serial.print(senddata.steer);
@@ -356,23 +403,35 @@ void loop() {
       if (millis()>setupmode_waitstarttime+SETUP_WAIT_TIMEOUT){ //waittime over
         setupmode=SETUP_NONE; //exit setup
       }else if(last_yin > SETUP_MOVE_THRESHOLD){ //y moved up
-        Serial.println("Moved Up");
+        Serial.print("Moved Up");
-        setup_directon_press=2;
+        if (speedmode<SETUP_SPEEDMODE_MAX){ //if not already at maximum
+          speedmode+=1;
+        }
+        setup_updateSpeedmode();
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis(); //use this value for done timer
       }else if(last_yin < -SETUP_MOVE_THRESHOLD){ //y moved down
-        Serial.println("Moved Down");
+        Serial.print("Moved Down");
-        setup_directon_press=3;
+        if (speedmode>0){ //if not already at minimum
+          speedmode-=1;
+        }
+        setup_updateSpeedmode();
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
-        Serial.println("Moved Left");
+        Serial.print("Moved Left");
-        setup_directon_press=1;
+        maxacc=20; //the higher the snappier
+        maxacc_brake=30;
+        maxaccsteer=30;
+        maxaccsteer_brake=70;
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if(last_xin > SETUP_MOVE_THRESHOLD){ //y moved right
-        Serial.println("Moved Right");
+        Serial.print("Moved Right");
-        setup_directon_press=4;
+        maxacc=0;
+        maxacc_brake=0;
+        maxaccsteer=0;
+        maxaccsteer_brake=0;
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if (millis()>setupmode_waitstarttime+SETUP_HOLD_POWEROFF && !digitalRead(PIN_BUTTON)){  //if button held down after SETUP_HOLD_POWEROFF
@@ -490,3 +549,24 @@ long readVcc() {
   result = 1126400L / result; // Back-calculate AVcc in mV 
   return result; 
 }
+
+void setup_updateSpeedmode(){
+  switch(speedmode){
+    case 0: //slow
+      speedscale=0.15;
+      steerscale=0.2;
+    break;
+    case 1: //medium
+      speedscale=0.4;
+      steerscale=0.45;
+    break;
+    case 2: //fast
+      speedscale=1.0;
+      steerscale=0.8;
+    break;
+    default:
+      speedscale=0.1;
+      steerscale=0.1;
+    break;
+  }
+}

nonpio_nippleremote_firmware/nippleremote_firmware.ino

@@ -0,0 +1,535 @@
+
+
+//from left to right. pins at bottom. chips on top
+//1 GND (black)
+//2 Data
+//3 Clock
+//4 Reset
+//5 +5V (red)
+//6 Right BTN
+//7 Middle BTN
+//8 Left BTN
+
+//Arduino Pro Mini 328P 5V 16MHz
+//hold power button pressed during flashing
+
+
+//pinout: https://martin-prochnow.de/projects/thinkpad_keyboard
+
+//see also https://github.com/feklee/usb-trackpoint/blob/master/code/code.ino
+
+//#define DEBUG
+
+#include "Trackpoint.h"
+
+//Default:
+/*Trackpoint trackpoint(8, // CLK
+                      9, // DATA
+                      12); // RESET
+*/
+
+/*funktioniert
+ * Trackpoint trackpoint(2, // CLK (rosa)
+                      3, // DATA (gelb)
+                      4); // RESET (gruen)
+*/
+Trackpoint trackpoint(3, // CLK (rosa, TP3)
+                      4, // DATA (gelb, TP2)
+                      2); // RESET (gruen, TP4)
+
+#include <SPI.h>
+#include "nRF24L01.h"
+#include "RF24.h"
+#include "printf.h"
+bool radioOk=false; //true, if sending was successfull. can be false, even if data was send and received
+
+RF24 radio(9,10); //ce, cs
+//SCK D13
+//Miso D12
+//Mosi D11
+// Radio pipe addresses for the 2 nodes to communicate.
+const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };  //0xF0F0F0F0xxLL, xx is 1-byte address
+#define NRF24CHANNEL 75
+
+struct nrfdata {
+  uint8_t steer; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
+  uint8_t speed; //between 0 and 255,  127 is stop. will be scaled to -1000 to 1000
+  uint8_t commands; //bit 0 set = motor enable
+  uint8_t checksum;
+};
+
+long last_sendNRF=0;
+#define NRFSEND_DELAY 20 //ms
+
+#define PIN_TOUCH 5
+long last_touch=0;
+#define TOUCH_TIMEOUT 100
+
+//command variables
+boolean motorenabled=false;
+
+#define PIN_LED A1
+
+#define PIN_BUTTON 6
+
+#define PIN_POWERON 7
+
+#define TRACKPOINT_MAX 70 //value for maximum stick movement
+float speedscale=0.0;
+float steerscale=0.0;
+
+int16_t last_xin=0;
+int16_t last_yin=0;
+int16_t xin_smooth=0;
+int16_t yin_smooth=0;
+int16_t maxacc=0;
+int16_t maxacc_brake=0;
+int16_t maxaccsteer=0;
+int16_t maxaccsteer_brake=0;
+
+#define SETUP_NONE 0
+#define SETUP_WAIT 1 //waiting for input
+#define SETUP_DONE 2 //waiting after input (do not move motors)
+uint8_t setupmode=SETUP_NONE;
+long setupmode_waitstarttime=0; //starttime of SETUP_WAIT mode
+#define SETUP_WAIT_TIMEOUT 10000 //maximum time to wait for input before canceling
+#define SETUP_HOLD_POWEROFF 2000 //if button held down after x ms in setup mode, power off
+#define SETUP_DONE_TIME 1000 //time to keep motors disabled after exiting setup
+#define SETUP_MOVE_THRESHOLD 275 //500*TRACKPOINT_MAX/127
+uint8_t speedmode=1; //0 (slow), 1(medium), 2(fast)
+#define SETUP_SPEEDMODE_MAX 2
+
+uint16_t led_ton=0; //never. time in ms for on time
+uint16_t led_toff=65535; //always
+long led_nextswitch=0;
+
+#define TIME_INACTIVITY_POWEROFF 120000
+long time_lastactivity=0;
+#define ACTIVITYMOVEMENT 5//Stick movement for activity recognition
+
+boolean touching=false;
+
+int voltage=4000;
+#define VOLTAGE_WARN 3400
+/*
+ * 3681=3.725V
+*/
+
+void setup() {
+  //Mouse.begin();
+  
+  pinMode(PIN_TOUCH, INPUT_PULLUP);
+  pinMode(PIN_LED, OUTPUT);
+  pinMode(PIN_BUTTON, INPUT_PULLUP);
+  pinMode(PIN_POWERON, OUTPUT);
+  digitalWrite(PIN_LED, LOW);
+
+  digitalWrite(PIN_POWERON, HIGH); //keep unit powered on
+
+
+  Serial.begin(115200);
+  printf_begin();
+  Serial.println("Booting");
+  
+  
+  
+  radio.begin();
+  //Serial.print("CRC Length=");
+  //Serial.println(radio.getCRCLength());
+
+  radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
+  //radio.setDataRate( RF24_1MBPS ); 
+
+  radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
+  
+  radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
+  radio.setPayloadSize(8); // optionally, reduce the payload size.  seems to improve reliability
+  
+  //radio.openWritingPipe(pipes[0]); //write on pipe 0
+  //radio.openReadingPipe(1,pipes[1]); //read on pipe 1
+
+  radio.openWritingPipe(pipes[1]); //write on pipe 1
+  radio.openReadingPipe(1,pipes[0]); //read on pipe 0
+
+  radio.printDetails();
+
+  radio.startListening();
+
+  #ifdef DEBUG
+  Serial.println("Radio initialized");
+  #endif
+
+  trackpoint.reset();
+  trackpoint.setRemoteMode();
+  trackpoint.setSensitivityFactor(0xc0); // more sensitive than by default
+
+  #ifdef DEBUG
+  Serial.println("Trackpoint initialized");
+  #endif
+
+  voltage=readVcc();
+  Serial.print("Voltage=");
+  Serial.println( voltage, DEC ); 
+
+  setup_updateSpeedmode(); //set speeds
+  
+}
+
+
+/*
+void sendButtonState(byte state) {
+  static const char hidStates[] = {MOUSE_LEFT, MOUSE_RIGHT};
+
+  for (byte i = 0; i < sizeof(hidStates); i++) {
+    byte hidState = hidStates[i];
+    if (state & (1 << i)) {
+      Mouse.press(hidState);
+    } else if (Mouse.isPressed(hidState)) {
+      Mouse.release(hidState);
+    }
+  }
+}
+*/
+
+// Reads TrackPoint data and sends data to computer.
+void loop() {
+  
+
+  if (millis()-last_sendNRF >= NRFSEND_DELAY)
+  {
+    voltage=readVcc(); //read own voltage
+    
+    last_sendNRF=millis();
+    trackpoint.readData(); //discard last value. otherwise values are scales way too high
+    Trackpoint::DataReport d = trackpoint.readData(); //d.x and d.y between 128 to 255=-1000 to 0, and 0 to 127=0 to +1000
+  
+    #ifdef DEBUG
+    Serial.print("DataReport: ");
+    Serial.print(d.x);
+    Serial.print(", ");
+    Serial.println(d.y);
+    #endif
+    
+  
+    nrfdata senddata;
+    
+    //senddata.steer=map(constrain((uint8_t)(d.x+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127+(127*steerscale), 127-(127*steerscale) ); //steer
+    //senddata.speed=map(constrain((uint8_t)(d.y+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127-(127*speedscale), 127+(127*speedscale) ); //speed
+
+
+    //map x and y to -1000 to 1000
+    int16_t xin;
+    if (d.x>=0 && d.x<=127){ //positive range
+      xin=map(constrain((int16_t)d.x,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
+    }else{ //negative range  128(=-1000) to 255(0)
+      xin=map(constrain((int16_t)d.x,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
+    }
+    int16_t yin;
+    if (d.y>=0 && d.y<=127){ //positive range
+      yin=map(constrain((float)d.y,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
+    }else{ //negative range  128(=-1000) to 255(0)
+      yin=map(constrain((float)d.y,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
+    }
+
+    last_xin=xin; //save position values for other stuff than control
+    last_yin=yin;
+
+    if (abs(xin)>ACTIVITYMOVEMENT){
+      time_lastactivity=millis(); //reset activity timeout
+    }else if (abs(yin)>ACTIVITYMOVEMENT){
+      time_lastactivity=millis(); //reset activity timeout
+    }
+
+    /*
+    float r=sqrt((xin*xin) + (yin*yin));
+    float phi=atan2(yin,xin); // arc tangent of y/x. 0 is right
+
+    Serial.print(xin,0);
+    Serial.print(", ");
+    Serial.print(yin,0);
+    Serial.print(":  ");
+    Serial.print(r,0);
+    Serial.print(", ");
+    Serial.println(phi,4);*/
+
+    
+    //xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
+    //yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
+    if (maxaccsteer>0){
+      // ### X ###
+      int16_t _xaccel=xin_smooth-xin;
+      if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
+        if (_xaccel<-maxaccsteer_brake){ //limit deceleration
+          _xaccel=-maxaccsteer_brake;
+        }else if (_xaccel>maxaccsteer_brake){
+          _xaccel=maxaccsteer_brake;
+        }
+      }else{ //not braking
+        if (_xaccel<-maxaccsteer){ //limit acceleration
+          _xaccel=-maxaccsteer;
+        }else if (_xaccel>maxaccsteer){
+          _xaccel=maxaccsteer;
+        }
+      }
+      xin_smooth-=_xaccel; //update value
+
+    }else{ //no acc limit
+      xin_smooth=xin; //update immediately
+    }
+    if (maxacc>0){
+      // ### Y ###
+      int16_t _yaccel=yin_smooth-yin;
+      if ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
+        if (_yaccel<-maxacc_brake){ //limit deceleration
+          _yaccel=-maxacc_brake;
+        }else if (_yaccel>maxacc_brake){
+          _yaccel=maxacc_brake;
+        }
+      }else{ //not braking
+        if (_yaccel<-maxacc){ //limit acceleration
+          _yaccel=-maxacc;
+        }else if (_yaccel>maxacc){
+          _yaccel=maxacc;
+        }
+      }
+      yin_smooth-=_yaccel; //update value
+    }else{ //no acc limit
+      yin_smooth=yin;
+    }
+
+    senddata.steer=map(xin_smooth, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
+    senddata.speed=map(yin_smooth, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
+    
+    senddata.commands=0; //reset
+    
+    if (!radioOk || setupmode!=SETUP_NONE){ //if last transmission failed or in setup mode
+      //senddata.steer=127; //stop
+      //senddata.speed=127;
+      senddata.commands|= 0 << 0; //motorenabled send false
+      xin_smooth=0; //reset smooth value
+      yin_smooth=0;
+    }else{
+      senddata.commands|= motorenabled << 0; //motorenabled is bit 0
+    }
+    #ifdef DEBUG
+    Serial.print(senddata.steer);
+    Serial.print(", ");
+    Serial.println(senddata.speed);
+    #endif
+    
+
+    senddata.checksum=(uint8_t)((senddata.steer+3)*(senddata.speed+13));
+    sendRF(senddata);
+    
+    #ifdef DEBUG
+    Serial.println( readVcc(), DEC ); 
+    #endif
+  }
+  
+
+  if(!digitalRead(PIN_TOUCH)){ //check touch
+    last_touch=millis();
+  }
+
+  
+  if(millis()-last_touch <= TOUCH_TIMEOUT){ //is touched
+    if (!touching && setupmode!=SETUP_DONE) { //was false, is touching again (and not during setup_done wait)
+      Serial.println("touching was false");
+      if (last_xin==0 && last_yin==0) { //stick at center position
+        touching=true; //enable only if stick is at center again
+        motorenabled=true;
+        Serial.println("touching reactivated");
+      }
+    }else{
+      motorenabled=true;
+    }
+  }else{
+    touching=false;
+    motorenabled=false;
+  }
+
+  if (!digitalRead(PIN_BUTTON) && setupmode==SETUP_NONE){ //Button pressed, and not in setup mode
+    setupmode=SETUP_WAIT;
+    setupmode_waitstarttime=millis();
+    Serial.println("Entering Setup");
+    //digitalWrite(PIN_POWERON, LOW); //Power off
+  }
+
+  //inactivity poweroff
+  if (millis()>time_lastactivity+TIME_INACTIVITY_POWEROFF){
+    Serial.println("Inactivity Poweroff");
+    delay(100);
+    digitalWrite(PIN_POWERON, LOW); //Power off
+  }
+
+  switch(setupmode){
+    case SETUP_WAIT:
+      if (millis()>setupmode_waitstarttime+SETUP_WAIT_TIMEOUT){ //waittime over
+        setupmode=SETUP_NONE; //exit setup
+      }else if(last_yin > SETUP_MOVE_THRESHOLD){ //y moved up
+        Serial.print("Moved Up");
+        if (speedmode<SETUP_SPEEDMODE_MAX){ //if not already at maximum
+          speedmode+=1;
+        }
+        setup_updateSpeedmode();
+        setupmode=SETUP_DONE; //exit setupmode
+        setupmode_waitstarttime=millis(); //use this value for done timer
+      }else if(last_yin < -SETUP_MOVE_THRESHOLD){ //y moved down
+        Serial.print("Moved Down");
+        if (speedmode>0){ //if not already at minimum
+          speedmode-=1;
+        }
+        setup_updateSpeedmode();
+        setupmode=SETUP_DONE; //exit setupmode
+        setupmode_waitstarttime=millis();//use this value for done timer
+      }else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
+        Serial.print("Moved Left");
+        maxacc=20; //the higher the snappier
+        maxacc_brake=30;
+        maxaccsteer=30;
+        maxaccsteer_brake=70;
+        setupmode=SETUP_DONE; //exit setupmode
+        setupmode_waitstarttime=millis();//use this value for done timer
+      }else if(last_xin > SETUP_MOVE_THRESHOLD){ //y moved right
+        Serial.print("Moved Right");
+        maxacc=0;
+        maxacc_brake=0;
+        maxaccsteer=0;
+        maxaccsteer_brake=0;
+        setupmode=SETUP_DONE; //exit setupmode
+        setupmode_waitstarttime=millis();//use this value for done timer
+      }else if (millis()>setupmode_waitstarttime+SETUP_HOLD_POWEROFF && !digitalRead(PIN_BUTTON)){  //if button held down after SETUP_HOLD_POWEROFF
+        Serial.println("Manual Power Off");
+        delay(100);
+        digitalWrite(PIN_POWERON, LOW); //Power off
+      }
+
+      
+      
+      if (!touching){ //remote got put away (not touch)
+        Serial.println("Poweroff");
+        delay(100);
+        digitalWrite(PIN_POWERON, LOW); //Power off
+      }
+    break;
+    case SETUP_DONE:
+      touching=false;
+      motorenabled=false;
+      Serial.println("touching set false");
+      if (millis()>setupmode_waitstarttime+SETUP_DONE_TIME){
+        setupmode=SETUP_NONE; //return to control mode, allows enabling motors
+      }
+    break;
+  }
+
+
+  //LED Blink Codes
+  switch(setupmode){
+    case SETUP_NONE:
+      if (radioOk){
+        if (touching){ //=touching
+          led_ton=500; //always on
+          led_toff=0;
+        }else{
+          led_ton=1000; //blink slowly regulary
+          led_toff=1000;
+        }
+      }else{ //not connected
+        if (touching){ //=touching
+          led_ton=5; //short flash
+          led_toff=200;
+        }else{
+          led_ton=0; //off
+          led_toff=500;
+        }
+      }
+      if (voltage<=VOLTAGE_WARN){
+        led_ton=25; //flash on fast
+        led_toff=75;
+      }
+      
+    break;
+    case SETUP_WAIT:
+      led_ton=200; //blink fast
+      led_toff=200;
+    break;
+    case SETUP_DONE:
+      led_ton=20; //blink fast
+      led_toff=20;
+    break;
+
+  }
+  if (millis()>=led_nextswitch){ //Set LED State by timings
+    if (digitalRead(PIN_LED)){ //led was on
+      if (led_toff>0){
+        digitalWrite(PIN_LED, LOW);  //led off
+      }
+      led_nextswitch=millis()+led_toff;
+    }else{
+      if (led_ton>0){
+        digitalWrite(PIN_LED, HIGH);  //led on
+      }
+      led_nextswitch=millis()+led_ton;
+    }
+  }
+  
+
+  
+
+  
+}
+
+
+void sendRF(nrfdata senddata){
+  #ifdef DEBUG
+  Serial.println("Transmitting...");
+  #endif
+  
+  radio.stopListening(); //stop listening to be able to transmit
+  radioOk = radio.write( &senddata, sizeof(nrfdata) );
+  if (radioOk){
+      #ifdef DEBUG
+      Serial.println("ok");
+      #endif
+        
+  }else{
+      #ifdef DEBUG
+      Serial.println("failed");
+      #endif
+  }
+  radio.startListening();
+  
+}
+
+long readVcc() { 
+  long result; // Read 1.1V reference against AVcc 
+  ADMUX = _BV(REFS0) | _BV(MUX3) | _BV(MUX2) | _BV(MUX1); 
+  delay(2); // Wait for Vref to settle 
+  ADCSRA |= _BV(ADSC); // Convert 
+  while (bit_is_set(ADCSRA,ADSC)); 
+  result = ADCL; 
+  result |= ADCH<<8; 
+  result = 1126400L / result; // Back-calculate AVcc in mV 
+  return result; 
+}
+
+void setup_updateSpeedmode(){
+  switch(speedmode){
+    case 0: //slow
+      speedscale=0.15;
+      steerscale=0.2;
+    break;
+    case 1: //medium
+      speedscale=0.4;
+      steerscale=0.45;
+    break;
+    case 2: //fast
+      speedscale=1.0;
+      steerscale=0.8;
+    break;
+    default:
+      speedscale=0.1;
+      steerscale=0.1;
+    break;
+  }
+}

nonpio_nippleremote_firmware/printf.h

@@ -0,0 +1,37 @@
+/*
+ Copyright (C) 2011 J. Coliz <maniacbug@ymail.com>
+ 
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+ 
+/**
+ * @file printf.h
+ *
+ * Setup necessary to direct stdout to the Arduino Serial library, which
+ * enables 'printf'
+ */
+
+#ifndef __PRINTF_H__
+#define __PRINTF_H__
+
+#ifdef ARDUINO
+
+int serial_putc( char c, FILE * ) 
+{
+  Serial.write( c );
+
+  return c;
+} 
+
+void printf_begin(void)
+{
+  fdevopen( &serial_putc, 0 );
+}
+
+#else
+#error This example is only for use on Arduino.
+#endif // ARDUINO
+
+#endif // __PRINTF_H__