Csharp TX to Arduino RX using same packet structure as HK WiFi RX

This is the comm protocol compatible with Hobbyking IOS & Android 4CH WiFi Receiver

private void sendRawChannels(int ch1, int ch2, int ch3, int ch4)
 {
 byte[] buffer = new byte[11];

 //Header
 buffer[0] = 85;
 buffer[1] = 0;
 buffer[2] = 11;
 buffer[3] = 0;

 //Channels
 buffer[4] = (byte)(ch1 & 255);
 buffer[5] = (byte)(ch2 & 255);
 buffer[6] = (byte)(ch3 & 255);
 buffer[7] = (byte)(ch4 & 255);

 buffer[8] = 0;
 buffer[9] = 0;

 int sum = 0;
 for (int i = 0; i < 9; i++)
 sum += (int)buffer[i];

 buffer[10] = (byte)(sum % 256);

 sock.Client.Send(buffer);

 }

The boat for this is here

Arduino
#include <servo.h> String inputString = ""; // a string to hold incoming data boolean stringComplete = false; // whether the string is complete int com_state = 0; int PackCount = 0; char Packet[11] = {0, }; long Cooling = 0; long PumpSpeed = 0; Servo Servo1; Servo Servo2; Servo Servo3; Servo Servo4; #define MAX_CHAN 8 int AnIn[MAX_CHAN] = {0, }; unsigned long PPMtout = 20000; char buf[300] = {0, }; long mS = 0; void setup() { pinMode(13, OUTPUT); Serial.begin(115200); // reserve 200 bytes for the inputString: inputString.reserve(200); Servo1.attach(8); Servo2.attach(9); Servo3.attach(10); Servo4.attach(11); } void loop() { AnIn[0] = analogRead(A0); AnIn[1] = analogRead(A1); AnIn[2] = analogRead(A2); AnIn[3] = analogRead(A3); AnIn[4] = analogRead(A4); AnIn[5] = analogRead(A5); AnIn[6] = analogRead(A6); AnIn[7] = analogRead(A7); /* RAZU-2 Six turn This device has a gain of 55mV per amp giving a 36 Amp working range, and a resolution of 11.3777 mA per bit with the maximum output at 5 volts which is 1024 bits in the Arduino. By the way I should point out that these devices on a 5 volt rail will sit around 2.5 volts with no current flowing, so at a 2 Volt delta the out put should be around 4.5 V */ mS = micros(); //Calc amps long Amps = (long)map((AnIn[1] - 512), 0, 512, 0, 36); //Calculate cooling temp RTC on AnIn[0] int cerr = ((int)600 - (int)AnIn[0]); //Integrate temparature Cooling += cerr; if(Cooling < 1000) Cooling = 1000; else if(Cooling > 2000) Cooling = 2000; //Use the temperature integrator plus the motor current //36 Amps gives us 360 bits PumpSpeed = (long)Cooling + (Amps * 10); //Update the outputs Servo1.writeMicroseconds((int)PumpSpeed); long Cyc_mS = (micros() - mS); // print the string when a newline arrives: if (stringComplete) { //Servo2.writeMicroseconds((int)Packet[4]); Servo2.write((int)Packet[5]); sprintf(buf, "AnIn[0]:%d,AnIn[1]:%d,CoolingError:%d,Cooling:%d,MotorAmps:%d,Cyc_mS:%d", AnIn[0], AnIn[1], cerr, (int)Cooling, (int)Amps, (int)Cyc_mS ); Serial.println(buf); stringComplete = false; } //ALLOW SERVOS TO UPDATE delayMicroseconds(20000); Cyc_mS = (micros() - mS); } /* SerialEvent occurs whenever a new data comes in the hardware serial RX. This routine is run between each time loop() runs, so using delay inside loop can delay response. Multiple bytes of data may be available. */ void serialEvent() { while (Serial.available()) { // get the new byte: byte inChar = (byte)Serial.read(); switch(com_state) { case 0: digitalWrite(13, HIGH); if(inChar == 85){ Packet[0] = inChar; PackCount = 1; com_state = 1; } break; case 1: if(PackCount < 11) Packet[PackCount++] = inChar; else { PackCount = 0; int sum = 0; for (int i = 0; i < 9; i++) sum += (int)Packet[i]; byte Chk = (byte)(sum % 256); //sprintf(buf, "LC=%d RC=%d", (int)Chk, (int)Packet[10] ); //Serial.println(buf); if(Chk == Packet[10]) { digitalWrite(13, LOW); stringComplete = true; com_state = 0; } } break; } } }
C Sharp
using System; using System.Collections.Generic; using System.ComponentModel; using System.Data; using System.Drawing; using System.Linq; using System.Text; using System.Windows.Forms; using System.Net.Sockets; namespace Hobbyking_4CH_WiFi { public partial class Form1 : Form { int mouse_x = 0; int mouse_y = 0; bool mouse_down = false; int joy_x = 0; int joy_y = 0; int mouse_x2 = 0; int mouse_y2 = 0; bool mouse_down2 = false; int joy_x2 = 0; int joy_y2 = 0; string RXdata = ""; TcpClient sock = new TcpClient(); public Form1() { InitializeComponent(); } private void Form1_Load(object sender, EventArgs e) { mouse_x = 100; mouse_y = 180; joy_x = 100; joy_y = 0; mouse_x2 = 100; mouse_y2 = 100; joy_x2 = 100; joy_y2 = 100; timer1.Enabled = true; } private void panel_JoyStick_MouseDown(object sender, MouseEventArgs e) { if (mouse_down) return; mouse_x = e.X; mouse_y = e.Y; mouse_down = true; JoyStick(); } private void panel_JoyStick_MouseUp(object sender, MouseEventArgs e) { mouse_down = false; mouse_x = 100; JoyStick(); } private void panel_JoyStick_MouseMove(object sender, MouseEventArgs e) { if (!mouse_down) return; mouse_x = e.X; mouse_y = e.Y; JoyStick(); } private void JoyStick() { joy_x = mouse_x; joy_y = 200 + (0 - mouse_y); panel_JoyStick.Refresh(); TXupdate(); } private void panel_JoyStick_Paint(object sender, PaintEventArgs e) { SolidBrush brush = new SolidBrush(Color.Aquamarine); Pen pen = new Pen(Color.White); //e.Graphics.DrawPie(pen, new Rectangle(10, 10, 100, 100), 30.0f, 90.0f); //e.Graphics.RotateTransform(45.0f); e.Graphics.DrawArc(pen, new Rectangle(100 - 12, 100 - 12, 25, 25), 0.0f, 360.0f); e.Graphics.DrawLine(new Pen(Color.White, 10f), new Point(100, 100), new Point(mouse_x, mouse_y)); e.Graphics.DrawArc(pen, new Rectangle(mouse_x - 25, mouse_y - 25, 50, 50), 0.0f, 360.0f); string s = joy_x.ToString() + " " + joy_y.ToString(); e.Graphics.DrawString(s, this.Font, Brushes.Yellow, new PointF(10f, 10f)); } private void panel_JoyStick2_MouseDown(object sender, MouseEventArgs e) { if (mouse_down2) return; mouse_x2 = e.X; mouse_y2 = e.Y; mouse_down2 = true; JoyStick2(); } private void panel_JoyStick2_MouseUp(object sender, MouseEventArgs e) { mouse_down2 = false; mouse_x2 = 100; mouse_y2 = 100; JoyStick2(); } private void panel_JoyStick2_MouseMove(object sender, MouseEventArgs e) { if (!mouse_down2) return; mouse_x2 = e.X; mouse_y2 = e.Y; JoyStick2(); } private void JoyStick2() { joy_x2 = mouse_x2; joy_y2 = 200 + (0 - mouse_y2); panel_JoyStick2.Refresh(); TXupdate(); } private void panel_JoyStick2_Paint(object sender, PaintEventArgs e) { SolidBrush brush = new SolidBrush(Color.Aquamarine); Pen pen = new Pen(Color.White); e.Graphics.DrawArc(pen, new Rectangle(100 - 12, 100 - 12, 25, 25), 0.0f, 360.0f); e.Graphics.DrawLine(new Pen(Color.White, 10f), new Point(100, 100), new Point(mouse_x2, mouse_y2)); e.Graphics.DrawArc(pen, new Rectangle(mouse_x2 - 25, mouse_y2 - 25, 50, 50), 0.0f, 360.0f); string s = joy_x2.ToString() + " " + joy_y2.ToString(); e.Graphics.DrawString(s, this.Font, Brushes.Yellow, new PointF(10f, 10f)); } private void btnConnect_Click(object sender, EventArgs e) { btnConnect.Enabled = false; if (checkBoxSerialMode.Checked == true) { if (serialPort1.IsOpen) { btnConnect.Text = "Open"; serialPort1.Close(); } else { btnConnect.Text = "Close"; serialPort1.Open(); } } else { if (!sock.Connected) { sock.Connect("10.10.100.254", 8899); btnConnect.Text = "Close"; timerUpdate.Enabled = true; } else { timerUpdate.Enabled = false; sock.Close(); btnConnect.Text = "Open"; } } btnConnect.Enabled = true; } private void timerUpdate_Tick(object sender, EventArgs e) { RXdata = ""; TXupdate(); } private void TXupdate() { //trackBar1.Value, trackBar2.Value, trackBar3.Value, trackBar4.Value int x = (joy_x + (trackBar1.Value / 2)) / 2; int y = (joy_y + (trackBar2.Value / 2)) / 2; int x2 = (joy_x2 + (trackBar3.Value / 2)) / 2; int y2 = (joy_y2 + (trackBar4.Value / 2)) / 2; sendRawChannels(x, y, x2, y2); } private void serialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e) { if (e.EventType == System.IO.Ports.SerialData.Chars) { RXdata += serialPort1.ReadExisting(); } } private void timer1_Tick(object sender, EventArgs e) { if (RXdata.Length > 0) { labelRX.Text = RXdata; RXdata = ""; } } private void labelRX_DoubleClick(object sender, EventArgs e) { labelRX.Text = ""; } private void sendRawChannels(int ch1, int ch2, int ch3, int ch4) { byte[] buffer = new byte[11]; //Header buffer[0] = 85; buffer[1] = 0; buffer[2] = 11; buffer[3] = 0; //Channels buffer[4] = (byte)(ch1 & 255); buffer[5] = (byte)(ch2 & 255); buffer[6] = (byte)(ch3 & 255); buffer[7] = (byte)(ch4 & 255); buffer[8] = 0; buffer[9] = 0; int sum = 0; for (int i = 0; i < 9; i++) sum += (int)buffer[i]; buffer[10] = (byte)(sum % 256); if (checkBoxSerialMode.Checked == true) { if (serialPort1.IsOpen) serialPort1.Write(buffer, 0, 11); } else if (sock.Client.Connected) { sock.Client.Send(buffer); } } }//Class }

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