// NRF24L01 Module Tutorial - Code for Receiver using Arduino UNO

//Include needed Libraries at beginning
#include "nRF24L01.h" 
#include "RF24.h"
#include "SPI.h"
#include "Servo.h"

Servo MyServo; //Object
RF24 radio(9,10); // NRF24L01 used SPI pins + Pin 9 and 10 on the UNO
const uint64_t pipe = 0xE6E6E6E6E6E6; // Needs to be the same for communicating between 2 NRF24L01 

void setup(void){
   
  Serial.begin(9600);
  //DC motor and servo
  pinMode(3,OUTPUT);//DC
  pinMode(0,OUTPUT);//DC direction
  pinMode(6,OUTPUT);//Servo
  myservo.attach(6)
  
  radio.begin(); // Start the NRF24L01
  radio.openReadingPipe(1,pipe); // Get NRF24L01 ready to receive
  radio.setPayloadSize(32);
  radio.startListening(); // Listen to see if information received
}

void loop(void){
  //Serial.println("Alive");
  while (radio.available()) //signal security
    {
      float PWM1;
      float PWM2;
      float ReceivedMessage[3]={111};
      radio.read(&ReceivedMessage, sizeof(ReceivedMessage)); // Read information from the NRF24L01
      Serial.println(ReceivedMessage[0]); //X
      Serial.println(ReceivedMessage[1]); //Y
      Serial.println(ReceivedMessage[2]); //button
      Serial.println("up");
      //DC contorl
      if(ReceivedMessage[1]<512)//DC direction
        {
          digitalWrite(0,LOW);
          Serial.println(foward);
          }
        else
        {
          digitalWrite(0,HIGH);
          Serial.println(backward);
          }
      PWM1=ReceivedMessage[0]*0,24-122,88   
      PWM1=abs(PWM1);//DC speed value
      analogWrite(3, PWM1);
      
      //Servo control
      PWM2=ReceivedMessage[1]*180/1024;
      myservo.write(PWM2);
      }
    delay(100);
}