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121 pfowler 1 
 
2 
/*
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 433Mhz Reviever Connections
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     View from front
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  __________________________
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 |                          |
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 |_A_G_G_V__________V_D_D_G_|
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   | | | |          | | | |
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                    ^ ^   ^
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                   5V D2  Gnd
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 MotorShield Connections
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    M1___G__M2_
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   |o|o||o||o|o|
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    ^ ^     ^ ^
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    | |     | |
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   +R -R   -L +L
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 R = Right motor, L = Left motor
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*/
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#include <VirtualWire.h>
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#include <AFMotor.h>
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AF_DCMotor motor1(1, MOTOR12_2KHZ);  //Right
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AF_DCMotor motor2(2, MOTOR12_2KHZ);  //Left
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const int rheIntPin = 0;
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const int ledPin = 13;
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const int  rxPin    = 2;
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const int  rxBps    = 2000;
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const int  MRIGHT   = 0;
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const int  MLEFT    = 1;
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const int  MFORWARD = 1;
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const int  MREVERSE = 0;
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int options = 0;         // Options
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int mspd[2] = {0, 0};    //Speed of right track
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volatile byte rpmcount = 0;
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unsigned int rpm = 0;
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unsigned long timeold = 0;
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void setup()
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{
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    Serial.begin(9600);	// Debugging only
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    Serial.println("setup");
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    pinMode(ledPin, OUTPUT);
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    digitalWrite(ledPin, false);
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    // Startup radio receiver
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    vw_set_rx_pin(rxPin);
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    vw_setup(rxBps);	 // Bits per sec
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    vw_rx_start();       // Start the receiver PLL running
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    // Hall effect intterupt setup
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    //pinMode(rhePin, INPUT);
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    attachInterrupt(rheIntPin, rpm_rhe, FALLING);
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   // Hall effect debugging
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   //mspd[MRIGHT] = 50;
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   update_motors();
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}
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void loop()
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{
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    uint8_t buf[VW_MAX_MESSAGE_LEN];
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    uint8_t buflen = VW_MAX_MESSAGE_LEN;
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    if (vw_get_message(buf, &buflen)) // Non-blocking
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    {
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        // Flash on msg get
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        //digitalWrite(13, true);
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        //digitalWrite(13, false);
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	/*
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        int i;
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        Serial.print("Got: ");
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	for (i = 0; i < buflen; i++)
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	{
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	    Serial.print(buf[i], HEX);
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	    Serial.print(" ");
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	}
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	Serial.println("");
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        */
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        if (buf[0])      // Read the options
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          options = buf[0] - 1;
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       if (buf[1])      // Right speed
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          mspd[MRIGHT] = buf[1] -1;
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       if (buf[2])      // Left speed
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          mspd[MLEFT] = buf[2] -1;
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       Serial.print("options "); Serial.print(options, BIN);
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       Serial.print(" r_spd "); Serial.print(mspd[MRIGHT], DEC);
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       Serial.print(" l_spd "); Serial.print(mspd[MLEFT], DEC);
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       Serial.println("");
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       update_motors();
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    }
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    if (rpmcount >= 5) {
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      rpm = 30*1000/(millis() - timeold)*rpmcount;
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      timeold = millis();
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      rpmcount = 0;
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      Serial.println(rpm,DEC);
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    }
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}
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void rpm_rhe() {
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  rpmcount++;
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  digitalWrite(13, true);
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  digitalWrite(13, false);
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}
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void update_motors() {
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       // Start the tracks rolling
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       if (mspd[MRIGHT] > 0) {
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         motor1.setSpeed(mspd[MRIGHT]);
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         if (bitRead(options, MRIGHT))
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           motor1.run(FORWARD);
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         else
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           motor1.run(BACKWARD);
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       } else
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         motor1.run(RELEASE);
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       if (mspd[MLEFT] > 0) {
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         motor2.setSpeed(mspd[MLEFT]);
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         if (bitRead(options, MLEFT))
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           motor2.run(FORWARD);
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         else
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           motor2.run(BACKWARD);
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       } else
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         motor2.run(RELEASE);
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}