nrf24L01_Gesture_Receiver_code.ino

#include <SPI.h>      //SPI library for communicate with the nRF24L01+
#include "RF24.h"     //The main library of the nRF24L01+

//Define enable pins of the Motors
const int enbA = 3;
const int enbB = 6;

//Define control pins of the Motors
//If the motors rotate in the opposite direction, you can change the positions of the following pin numbers
const int IN1 = 2;    //Right Motor (-)
const int IN2 = 4;    //Right Motor (+)
const int IN3 = 5;    //Left Motor (+)
const int IN4 = 7;    //Right Motor (-)

//Define variable for the motors speeds
//I have defined a variable for each of the two motors 
//This way you can synchronize the rotation speed difference between the two motors
int RightSpd = 200;
int LeftSpd = 250;

//Define packet for the direction (X axis and Y axis)
int data[2];

//Define object from RF24 library - 8 and 9 are a digital pin numbers to which signals CE and CSN are connected
RF24 radio(8,9);

//Create a pipe addresses for the communicate
const uint64_t pipe = 0xE8E8F0F0E1LL;

void setup(){
  //Define the motor pins as OUTPUT
  pinMode(enbA, OUTPUT);
  pinMode(enbB, OUTPUT);
  pinMode(IN1, OUTPUT);
  pinMode(IN2, OUTPUT);
  pinMode(IN3, OUTPUT);
  pinMode(IN4, OUTPUT);

   //digitalWrite(enbA, HIGH);
   //digitalWrite(enbB, HIGH);
  
  Serial.begin(9600);
  radio.begin();                    //Start the nRF24 communicate            
  radio.openReadingPipe(1, pipe);   //Sets the address of the transmitter to which the program will receive data.
  radio.startListening();             
  }

void loop(){
  if (radio.available()){
    radio.read(data, sizeof(data));

    if(data[0] < 340){
      //forward            
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4, LOW);
      Serial.println("forward");
    }
    
    if(data[0] > 360){
      //backward              
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, HIGH);
      Serial.println("backward");
    }
     
    if(data[1] > 160){
       //right
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, HIGH);
      digitalWrite(IN3, HIGH);
      digitalWrite(IN4, LOW);
      Serial.println("right");
    }

    if(data[1] < 140){
     //left
      analogWrite(enbA, RightSpd);
      analogWrite(enbB, LeftSpd);
      digitalWrite(IN1, HIGH);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, HIGH);
      Serial.println("left");
    }

    if(data[0] > 340 && data[0] < 360 && data[1] > 140 && data[1] < 160){
      //stop car
      analogWrite(enbA, 0);
      analogWrite(enbB, 0);
      digitalWrite(IN1, LOW);
      digitalWrite(IN2, LOW);
      digitalWrite(IN3, LOW);
      digitalWrite(IN4, LOW);
      Serial.println("stop");
    }
  }
}