Harvest Rover

Hardware:

• MPLAB Xpress Development Board (PIC16F18855)
• Snap Programmer
• PCU - UNB Dev Board (microbit) (Custom-made)
• RCLS - Radio Controlled Laser System (dsPIC33CK128MP205)

Communication with PCU via payload requests

Note:

• Bytes 1 & 2 - Sync Bytes
• Bytes 3 & 4 - Type of Message
• Bytes 5 & 6 - Payload Size

Get PCU Info Command

volatile uint8_t get_pcu_info[6] = {0xFE, 0x19, 0x01, 0x04, 0x00, 0x00};

PCU Info Respsone
12 byte buffer

response = [
SYNC1,
SYNC2,
ID_LSB,
ID_MSB,
SIZE_LSB,
SIZE_MSB,
TEAM_ID,
PLAYER_ID,
HEALTH_LSB,
HEALTH_MSB,
SHIELD_FLAG,
REPAIR_FLAG
]

Get Flysky Info Command / Get User Data Command

volatile uint8_t get_flySky_info[6] = {0xFE, 0x19, 0x01, 0x05, 0x00, 0x00};

PCU Flysky Info Respsone
26 byte buffer

response = [
SYNC1,
SYNC2,
MSG_ID_LSB,
MSG_ID_MSB,
PAYLOAD_SIZE_LSB,
PAYLOAD_SIZE_MSB,
RJ_X_LSB,    // Right X Joystick
RJ_X_MSB,
RJ_Y_LSB,    // Right Y Joystick
RJ_Y_MSB,
LJ_Y_LSB,    // Left Y Joystick
LY_Y_MSB,
LJ_X_LSB,    // Left X Joystick
LJ_X_MSB,
SWITCH_A_LSB,
SWITCH_A_MSB,
SWITCH_B_LSB,
SWITCH_B_MSB,
SWITCH_C_LSB,
SWITCH_C_MSB,
SWITCH_D_LSB,
SWITCH_D_MSB,
POTEN_VRA_LSB,    // Potentiometer VRA
POTEN_VRA_MSB,
POTEN_VRB_LSB,    // Potentiometer VRB
POTEN_VRB_MSB,
]

Flysky Controls