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Main_Receive/Main_Receive.ino

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+volatile byte data[20],L1,L2,checksum;
+volatile int x,i,j,L,M,ack, b[4];
+volatile float a[4];
+
+#include <Servo.h>
+
+Servo m1, m2, m3,m4;
+
+
+void setup() {
+
+  // Serial Communication at 115200 Baud rate
+  Serial.begin(115200);
+
+  // Attachment of Motors to PWM pins of Nano
+  m1.attach(3);
+  m2.attach(5);
+  m3.attach(6);
+  m4.attach(9);
+
+  //Arming of Motors
+  delay(1);
+  m1.write(40);
+  delay(1);
+  m2.write(40);
+  delay(1);
+  m3.write(40);
+  delay(1);
+  m4.write(40);
+
+  //Setup Complete
+  Serial.println("Setup Done");
+  delay(1000);
+
+}
+
+void loop() {
+
+  //Initialisation of values
+  L1=0;L2=0;
+  L=0;
+  ack=0;
+
+  //Read data recieved through XBEE  
+  IncomingData();
+
+  //Discard any buffer data present at Serial
+  Serial.flush();
+
+  //move forward only if ack=1
+  if (ack==1)
+    ack = disco();
+
+  //Serial.println(ack);
+  //Serial.println(L2,HEX);
+
+  //delay of 20 ms
+  delay(20);
+  if (ack==3)
+    hello();
+
+  //Discard any buffer data present
+  Serial.flush();
+
+}
+
+
+// This function calculates the sum of all the data and verifies it for data integrity
+int disco()
+{
+  x=0;
+  for (i=0;i<L;i++)
+  {
+    x=x+(int)data[i];
+  }
+
+  //obtain last two bytes and substract with 0xffh
+  x=x%256;
+  x=x-255;
+
+  //Serial.println(x);
+  int y;
+  y= (x+checksum)%256;
+
+  //if the checksum equals x value send 3 as acknowledge else 0
+  if (x==-(checksum))
+   {
+    return 3;
+   }
+  else return 0;
+
+}
+
+//fuction to obtain data through serial port 
+void IncomingData()
+{
+  if (Serial.available())
+  {
+    if (Serial.read() == 0x7E)
+    {   
+      L1=Serial.read();
+      L2=Serial.read();
+        for (i=0;i<16;i++)
+        {
+         data[i]=Serial.read();
+        }      
+      checksum=(int)Serial.read();
+    }
+ delay(25);
+  }
+      L=(int)L1*256+(int)L2;
+      //if the length of incoming data equals 16 then generate acknowlegement as 1
+      if (L==16)
+        ack=1; 
+}
+
+//run the motors based on the data acquired
+void hello()
+{
+  j=0;
+  //assigning data to a new array
+  for (i=12;i<L;i++)
+   {
+    j=i-12;   
+    a[j]=data[i];
+   }
+        //calculation of angles from data acquired
+       for (int j=0; j<4; j++)
+      {
+        //a[j]=data[12+j];
+        a[j]=a[j]/255*180;
+        b[j]=(int)a[j];
+        Serial.println(b[j]); 
+        //Serial.print('\n');
+      }
+      //write data to the motors
+      m1.write(b[0]);
+      m2.write(b[1]);
+      m3.write(b[2]);
+      m4.write(b[3]);
+
+
+}