2.4G handle control

The tutorial mainly demonstrates the remote control function of the balance car combined with the 2.4G wireless handle.

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The tutorial only introduces the standard library project code

Hardware connection

Control principle

Control the movement state of the balance car by reading the buttons of the handle.

• 2.4G wireless handle

The 2.4G wireless handle is mainly composed of a handle and a receiver (the receiver adapter board is convenient for pin connection with the development board).

Handle

Send key information to the receiver.

Receiver

Receive the data sent by the handle and pass it to the development board; the development board can also configure the handle's sending mode by sending data through the handle.

Handle Button Description

Main code

The tutorial mainly explains the code for the 2.4G wireless controller remote control function. For detailed code, please refer to the corresponding project file.

PS2_Contorl_Car

Control the movement state of the car by reading the data of the corresponding key value.

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void PS2_Contorl_Car(void)
{
    //Analog value control
    g_PS2_LX = PS2_AnologData(PSS_LX);
    g_PS2_LY = PS2_AnologData(PSS_LY);
    g_PS2_RX = PS2_AnologData(PSS_RX);
    g_PS2_RY = PS2_AnologData(PSS_RY);
    g_PS2_KEY = PS2_DataKey();

    // The handle is not communicating
    if ((g_PS2_LX == 255) && (g_PS2_LY == 255) && (g_PS2_RX == 255) && (g_PS2_RY == 255))
    {
        if (g_flag == 1)
        {
            g_flag = 0;
        }
    }

    else
    {
        if (g_flag == 0)
        {
            g_flag = 1;
        }

        if((g_PS2_LX<50 && g_PS2_LY<50) || (g_PS2_RX<50 && g_PS2_RY<50))
        {
            g_newcarstate=enps2Fleft; // Front left
        }
        else if((g_PS2_LX>150 && g_PS2_LY<50) || (g_PS2_RX>150 && g_PS2_RY<50))
        {
            g_newcarstate=enps2Fright; // Front right turn
        }
        else if((g_PS2_LX<50 && g_PS2_LY>150) || (g_PS2_RX<50 && g_PS2_RY>150))
        {
            g_newcarstate=enps2Bleft; // Back left
        }
        else if((g_PS2_LX>150 && g_PS2_LY>150) || (g_PS2_RX>150 && g_PS2_RY>150))
        {
            g_newcarstate=enps2Bright; // Back right
        }
        else if((g_PS2_LY<90) || (g_PS2_RY<90))
        {
            g_newcarstate=enRUN; // go ahead
            return;
        }
            else if((g_PS2_LY>150) || (g_PS2_RY>150))
        {
            g_newcarstate=enBACK; // Back
            return;
        }
            else if((g_PS2_LX<90) || (g_PS2_RX<90))
        {
            g_newcarstate=enLEFT; // Turn left
            return;
        }
            else if((g_PS2_LX>150) || (g_PS2_RX>150))
        {
            g_newcarstate=enRIGHT; // Turn right
            return;
        }
        else
        {
            if (g_PS2_KEY == 0) // No buttons pressed
                g_newcarstate=enSTOP;
        }
    }

    // The following are key value controls
    switch (g_PS2_KEY)
    {
        case PSB_L1:
        case PSB_L2:
            speed_flag ++;
            if(speed_flag>5)
            {
                speed_flag = 5;
            }
            
            // real control
            Car_Target_Velocity +=10 ; 
            Car_Turn_Amplitude_speed +=12 ;
            if(Car_Target_Velocity > 50)
            {
                Car_Target_Velocity = 50;
            }
            if(Car_Turn_Amplitude_speed>60)
            {
                Car_Turn_Amplitude_speed =60;
            }
            break;
            

        case PSB_R1:
        case PSB_R2:
            speed_flag --;
            if(speed_flag<1)
            {
                speed_flag = 1;
            }
            
            // real control
            Car_Target_Velocity -=10 ; 
            Car_Turn_Amplitude_speed -=12 ;
            if(Car_Target_Velocity < 10)
            {
                Car_Target_Velocity = 10;
            }
            if(Car_Turn_Amplitude_speed<12)
            {
                Car_Turn_Amplitude_speed =12;
            }
            break;
        
        // forward
        case PSB_PAD_UP:
        case PSB_GREEN:
                g_newcarstate=enRUN;
                break;
        
        // back
        case PSB_PAD_RIGHT:
        case PSB_RED:
            g_newcarstate=enRIGHT;
            break;
        
        // left
        case PSB_PAD_DOWN:
        case PSB_BLUE:
            g_newcarstate=enBACK;
            
            break;
        
        // right
        case PSB_PAD_LEFT:
        case PSB_PINK:
            g_newcarstate=enLEFT;
            break;

        // stop
        default:
            if(g_flag == 1) // Red and green mode to judge
            {
                if(((g_PS2_LY >90 && g_PS2_LY < 140) && (g_PS2_LX >90 && g_PS2_LX < 140)) && ((g_PS2_RY >90 && g_PS2_RY < 140) && (g_PS2_RX >90 && g_PS2_RX < 140)))
                {
                    g_newcarstate=enSTOP;
                    break;
                }
            }
            else
            {
                g_newcarstate=enSTOP;
            }
    }
}

Program flow chart

Brief introduction to the function implementation process:

Experimental phenomenon

Software code

The Handle_Control_Car.hex file generated by the project compilation is located in the OBJ folder of the Handle_Control_Car project. Find the Handle_Control_Car.hex file corresponding to the project and use the FlyMcu software to download the program into the development board.

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Product supporting information source code path: Attachment → Source code summary → 5.Balanced_Car_Extended → 03.Handle_Control_Car

Experimental phenomenon

After the program is started, press the KEY1 button according to the OLED prompt to start the handle remote control function of the balance car: OLED will display the speed level in real time!

The program has voltage detection. If the voltage is less than 9.6V, the low voltage alarm will be triggered and the buzzer will sound.
Common situations for triggering voltage alarms:
1. The power switch of the development board is not turned on, and only the Type-C data cable is connected for power supply
2. The battery pack voltage is lower than 9.6V and needs to be charged in time