4-Channel Radio Control. NO ESC. Motor Control Without ESC

				
					// ============================================================
//  4 Kanal NRF24L01 Receiver | Arduino Pro Micro
//
//  TB6612FNG Motor Driver Pins:
//    PWMA  → D5   (Motor A speed PWM)
//    AIN1  → D4   (Motor A direction)
//    AIN2  → D3   (Motor A direction)
//    PWMB  → D6   (Motor B speed PWM)
//    BIN1  → D7   (Motor B direction)
//    BIN2  → D9   (Motor B direction)
//
//  Diğer:
//    Servo → D2
//    Röle  → A1
//
//  NRF24 : CE=D8, CSN=D10
//
//  Signal protocol (Signal from transmitter):
//    0-126   → backward  (speed = 126-val → 126..1)
//    127     → Stop
//    128-255 → forward (speed = val-128 → 0..127) → PWM 0-254
// ============================================================

#include <SPI.h>
#include <nRF24L01.h>
#include <RF24.h>
#include <Servo.h>

// ---------- NRF24 ----------
RF24 radio(8, 10);                          // CE=D8, CSN=D10
const uint64_t pipeIn = 0xABCDABCD71LL;

// ---------- Data packed (same struct as the transmitter) ----------
struct Signal {
  byte throttle1;
  byte throttle2;
  byte yaw;
  byte aux1;
};
Signal data;

// ---------- Motor A — TB6612FNG ----------
const int PWMA = 5;
const int AIN1 = 4;
const int AIN2 = 3;

// ---------- Motor B — TB6612FNG ----------
const int PWMB = 6;
const int BIN1 = 7;
const int BIN2 = 9;

// ---------- Servo ----------
Servo myServo;
const int SERVO_PIN = 2;

// ---------- Relay ----------
const int RELAY_PIN = A1;
bool lastRelayCmd   = false;   // previous aux1 value (edge ​​detection — optional)

// ---------- Disconnection safety ----------
unsigned long lastRecvTime = 0;
const unsigned long TIMEOUT_MS = 500;   // Stop the motors if no signal is received within 500 ms.

// ---------------------------------------------------------------
//  Motor A drive
// ---------------------------------------------------------------
void driveMotorA(byte val) {
  if (val == 127) {
    // Stop
    analogWrite(PWMA, 0);
    digitalWrite(AIN1, LOW);
    digitalWrite(AIN2, LOW);
  } else if (val > 127) {
    // İleri
    int pwm = map(val, 128, 255, 0, 255);
    digitalWrite(AIN1, HIGH);
    digitalWrite(AIN2, LOW);
    analogWrite(PWMA, pwm);
  } else {
    // Geri
    int pwm = map(val, 126, 0, 0, 255);
    digitalWrite(AIN1, LOW);
    digitalWrite(AIN2, HIGH);
    analogWrite(PWMA, pwm);
  }
}

// ---------------------------------------------------------------
//  Motor B drive
// ---------------------------------------------------------------
void driveMotorB(byte val) {
  if (val == 127) {
    analogWrite(PWMB, 0);
    digitalWrite(BIN1, LOW);
    digitalWrite(BIN2, LOW);
  } else if (val > 127) {
    int pwm = map(val, 128, 255, 0, 255);
    digitalWrite(BIN1, HIGH);
    digitalWrite(BIN2, LOW);
    analogWrite(PWMB, pwm);
  } else {
    int pwm = map(val, 126, 0, 0, 255);
    digitalWrite(BIN1, LOW);
    digitalWrite(BIN2, HIGH);
    analogWrite(PWMB, pwm);
  }
}

// ---------------------------------------------------------------
//  Safe stop (when signal is interrupted)
// ---------------------------------------------------------------
void SafeStop() {
  driveMotorA(127);
  driveMotorB(127);
  // The servo and relay remain in their final position
}

void setup() {
  // Motor pinleri
  pinMode(PWMA, OUTPUT);
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(PWMB, OUTPUT);
  pinMode(BIN1, OUTPUT);
  pinMode(BIN2, OUTPUT);

  // Röle
  pinMode(RELAY_PIN, OUTPUT);
  digitalWrite(RELAY_PIN, LOW);

  // Servo
  myServo.attach(SERVO_PIN);
  myServo.write(90);   // starting center

  // NRF24
  radio.begin();
  radio.openReadingPipe(1, pipeIn);
  radio.setChannel(100);
  radio.setAutoAck(false);
  radio.setDataRate(RF24_250KBPS);
  radio.setPALevel(RF24_PA_MAX);
  radio.startListening();

  SafeStop();
}

void loop() {
  // --- Veri al ---
  if (radio.available()) {
    radio.read(&data, sizeof(Signal));
    lastRecvTime = millis();

    // Motor A
    driveMotorA(data.throttle1);

    // Motor B
    driveMotorB(data.throttle2);

    // Servo: 0-255 → 0-180 derece
    int servoAngle = map(data.yaw, 0, 255, 30, 150);
    myServo.write(servoAngle);

    // Röle: aux1 doğrudan HIGH/LOW
    digitalWrite(RELAY_PIN, data.aux1 ? HIGH : LOW);
  }

  // --- Zaman aşımı kontrolü ---
  if (millis() - lastRecvTime > TIMEOUT_MS) {
    SafeStop();
  }
}