working version 1

OledDisplay.h

@@ -1,3 +1,5 @@
+#include "HardwareSerial.h"
+#include "Print.h"
 #ifndef OledDisplay_h
 #define OledDisplay_h
 
@@ -12,22 +14,18 @@
 class OledDisplay {
   private: 
     Adafruit_SSD1306 display{SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET};
-    int currentLine = 0;
-
   public:
     void setup();
-    void write(String msg);
     void clear();
-    void droneMessage(String msg);
+    void writeLine(char* msg, int line);
 };
 
 void OledDisplay::setup() {
   // display module
   display.begin(SSD1306_SWITCHCAPVCC, 0x3C);  // I2C address = 0x3C
   display.setTextSize(1);
-  display.setTextColor(WHITE);
-  display.setCursor(0, 0);
-  display.clearDisplay();
+  display.setTextColor(WHITE, BLACK);
+  clear();
   display.print("Loading");
   display.display();
   for (int i = 0; i < 3; i++) {
@@ -35,38 +33,29 @@ void OledDisplay::setup() {
   display.display();
     delay(500);
   }
-  display.clearDisplay();
+  clear();
   delay(10);
-  write("Display is ready");
-}
-
-void OledDisplay::write(String msg) {
-  if (currentLine >= 60) {
-    currentLine = 0;
-  }
-  display.setCursor(0, currentLine);
-  display.print(msg);
+  display.print("Display is ready");
   display.display();
-  currentLine+=10;
 }
 
 void OledDisplay::clear() {
   display.clearDisplay();
   display.setCursor(0, 0);
-  currentLine = 0;
 }
-
-void OledDisplay::droneMessage(String msg) {
-  clear();
-  const char delimiter[] = "|";
-
-  char* token = strtok(msg.c_str(), delimiter);
-
-  while (token != NULL) {
-    Serial.println(token);
-    write(String(token));
-    token=strtok(NULL, delimiter);
+void OledDisplay::writeLine(char* msg, int line) {
+  int x = 0;
+  int y = line * 10;
+  if (line >= 5) {
+    x = 64; 
+    y -= 5 * 10;
   }
+  display.setCursor(x, y);
+  display.print("         ");  // Print spaces to clear the line
+  display.setCursor(x, y);
+  display.print(msg);
+  display.display();
 }
 
+
 #endif

RadioController.h

@@ -1,3 +1,4 @@
+#include "HardwareSerial.h"
 #ifndef RadioController_h
 #define RadioController_h
 
@@ -10,32 +11,70 @@
 class RadioController {
   private:
     RF24 radio;  // CE, CSN
-    const uint64_t writePipe = 0xE8E8F0F0E1LL;
-    const uint64_t readPipe = 0xE8E8F0F0E2LL;
   public:
     void setup(int cepin, int cspin);
     void send(String msg);
     String receive(); 
+    const char* sendAck(char* msg, int& tx); 
 };
 
 void RadioController::setup(int cepin, int cspin) {
+    uint8_t address[][6] = { "1Node", "2Node" };
   radio = RF24(cepin, cspin);
 
   if (!radio.begin()) {
     Serial.println("Error initializing radio");
   } else {
     Serial.println("Succesfully initializing radio");
-    radio.openWritingPipe(writePipe); 
-    radio.openReadingPipe(1, readPipe);
-    radio.setPALevel(RF24_PA_MAX);
-    radio.disableDynamicPayloads();
-    radio.setAutoAck(false); 
-    radio.setRetries(5, 15);
+    // radio.openWritingPipe(writePipe); 
+    // radio.openReadingPipe(1, readPipe);
+    // radio.setPALevel(RF24_PA_MAX);
+    // radio.disableDynamicPayloads();
+    // radio.setAutoAck(false); 
+    // radio.setDataRate( RF24_250KBPS );
+    // radio.enableAckPayload();
+    // radio.setRetries(15, 15); // delay, count
+
+    // Set the PA Level low to try preventing power supply related problems
+    // because these examples are likely run with nodes in close proximity to
+    // each other.
+    radio.setPALevel(RF24_PA_LOW);  // RF24_PA_MAX is default.
+
+    // to use ACK payloads, we need to enable dynamic payload lengths (for all nodes)
+    radio.enableDynamicPayloads();  // ACK payloads are dynamically sized
+
+    // Acknowledgement packets have no payloads by default. We need to enable
+    // this feature for all nodes (TX & RX) to use ACK payloads.
+    radio.enableAckPayload();
+    
+    // set the TX address of the RX node into the TX pipe
+    radio.openWritingPipe(address[0]);  // always uses pipe 0
+
+    // set the RX address of the TX node into a RX pipe
+    radio.openReadingPipe(1, address[1]);  // using pipe 1
+
+    radio.stopListening();                 // put radio in TX mode
   }
 }
+const char* RadioController::sendAck(char* textToSend, int& tx) {
+  bool transmissionSuccess = radio.write(textToSend, strlen(textToSend));
+  tx = 0;
+  if (transmissionSuccess) {
+    if (radio.available()) {
+      static char receivedText[8] = "";  // Declare a static char array to hold the received text
+      radio.read(receivedText, sizeof(receivedText));  // Read the received text into the char array
+      tx = 1;
+      return receivedText;  // Return the char array
+    } else {
+      Serial.println("Acknowledge but no data");
+    }
+  } else {
+    Serial.println("Transmission failed");
+  }
+  return "";  // Return an empty char array if no data was received
+}
 
 void RadioController::send(String msg) {
-  radio.stopListening(); 
   const char *text = msg.c_str();
   bool transmissionSuccess = radio.write(text, strlen(text));
 

controller.ino

@@ -39,7 +39,7 @@ int buttons[] = { up_button, down_button, left_button,
 int val = 0;
 
 unsigned long previousTime = 0;  // Variable to store the previous time
-unsigned long interval = 3000; 
+unsigned long interval = 1000; 
 
 void setup() {
   Serial.begin(115200);
@@ -55,49 +55,67 @@ void setup() {
   display.setup();
 
   Serial.println("Setup finished");
-  delay(2000);
+  display.clear();
 }
 
 
 void loop() {
+  char msgToSend[32] = ""; 
+
   // val = map(analogRead(PIN_POTI), 0, 676, 30, 110);
   // Serial.println(val);
 
-  // String msg = radio.receive();
-    // Serial.println(msg);
-
-  // display.droneMessage("PT:0.00|RL:0.00|MP_LF:1000");
-  // display.droneMessage(msg);
-
-  delay(50);
-
-  String msgToSend = "";
-
   unsigned long currentTime = millis();  // Get the current time
-  
   if (currentTime - previousTime >= interval) {
     // Perform your action here
     // This code will execute every 3 seconds
-    msgToSend += "Alive|";
+    strcat(msgToSend, "Alive|");
 
     previousTime = currentTime;  // Update the previous time
   }
 
 
   if (digitalRead(left_button) == LOW) {
-    msgToSend += "Stop|";
+    strcat(msgToSend, "Stop|");
   } else if (digitalRead(up_button) == LOW) {
-    msgToSend += "Up|";
+    strcat(msgToSend, "Up|");
   } else if (digitalRead(down_button) == LOW) {
-    msgToSend += "Down|";
+    strcat(msgToSend, "Down|");
+  } else if (digitalRead(right_button) == LOW) {
+    strcat(msgToSend, "MOTOR|");
   }
 
+  if (strlen(msgToSend) != 0) {
+    display.writeLine(msgToSend, 5);
+    // display.showDroneMessage();
+  }
+
+  // Serial.print("Send:");
   // Serial.println(msgToSend);
+  int tx = 0;
+  const char* recText = radio.sendAck(msgToSend, tx);
+  // Serial.println(recText);
 
-  radio.send(msgToSend);
+  const char* transmitMsg = "RIP";
+  if (tx == 1) {
+    transmitMsg = "TX";
+  }
+  display.writeLine(transmitMsg, 6);
 
-  //display_inputs();
-  delay(10);
+  if (strncmp(recText, "Alive", 5) == 0) {
+    display.writeLine(recText, 0);
+  }else if (strncmp(recText, "BL", 2) == 0) {
+    display.writeLine(recText, 1);
+  }else if (strncmp(recText, "BR", 2) == 0) {
+    display.writeLine(recText, 2);
+  }else if (strncmp(recText, "FL", 2) == 0) {
+    display.writeLine(recText, 3);
+  }else if (strncmp(recText, "FR", 2) == 0) {
+    display.writeLine(recText, 4);
+  }
+
+  // display_inputs();
+  delay(50);
 }
 
 void display_inputs() {