RemoteControl
Contents
RC controllers
DumboRC X6FG 6 channel RC controller2.4 GHz 4.8-10V. Installed summer 2024
Pulse width 1000-2000 milliseconds
- CH1 Steering
- CH2 Throttle / Brake
- CH3 2 way switch: Forward or reverse
- CH4 3 way slider switch: Manual or Automatic mode
- CH5 Rotary switch: Request to raise gate to undock.
- CH6 Rotary switch: Reserved
RFM69HCW
The RFM69HCW (915MHz) transceiver offers several benefits over the 433MHz ASK radios:
- greater range with higher transmit power
- much higher raw bitrate
- half-duplex communication and received signal strength indicator (RSSI)
- compatibility with higher-performance 3.3V ARM boards like SAMD21
Using the RF69 RadioHead library, the RC system has expanded capabilities from the RH ASK implementation. Data is stored on both ends as a C struct, which is broken down and transmitted as bytes by the RF69 library. After successful transmission, the data is accessible directly from the struct and variables larger than one byte need no additional processing before use. After successfully receiving a packet from the remote control, the receiver sends a packet back with an RSSI value. The remote control uses this reply message to indicate radio communication is active.
Transmitted data to vehicle
- unsigned 12-bit throttle (0-4095)
- unsigned 12-bit turn
- boolean emergency stop
- boolean autonomous mode
- signed RSSI of last received packet (from vehicle)
Received data from vehicle
- signed RSSI of last received packet (from remote)
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