A note to all spammers, you ain’t gettin past me, so give up.

I’ve since removed your last message as it’s mostly a duplicate now.

The code for sending the pot signals was pretty simple.
each of the pots was put into a “word” and transmitted in 4 digits, 0000 lowest to 1023 highest, and i had the receiving MCU store each of the 4 digits into their own variables.
i added a check on the receiver end that should it receive >=1024 on any of the pots, to goto a hault command, as not to have a runaway rover.

The send looked like
hserout 1,[dec Lx\4, dec Ly\4, dec slide\4] ; etc.. but it would go for all 5 pots. The keypad was transmitted in 2 digits, and the various buttons in 1. Though for some buttons on the main controller, i assigned a value to each of the buttons and had it manipulate the same variable. So button 1 = 1, button 2 = 2, and so on, but both would set the value of the same variable. This was to reduce how much information needed to be transmitted. My center joystick would do 1-5, and 0 being nothing pressed.
The keypad value is decided by the controller and transmits 01-16, in a 2 digit set, so even if the keypad is unpressed, it’ll transmit 00.
I do this by setting the value to 0, then going to a subroutine to check if there are any key presses.
The receiving code is
hserin hault,400000,[dec4 Lx, dec4 Ly, dec4 slide] etc. so if 0000 gets transmitted on Lx, then the receiver gets 0000, and i use the same variable names on both ends.. for simplicity.
38.4k baud is plenty of this. There is about a 150ms delay when sending in rover mode but only about 10-15ms in arm mode, since the arm updates more rapidly.
I also transmit a single digit at the end of my code, that the bot decides which is arm and which is rover, so i can’t transmit rover commands while in arm mode. once i switch to rover mode, the bot receives a 0 and is forced into movement mode, where if i send a 1, it’s forced into arm mode.

Now you might have trouble with that on the nanos. The atom pros are so powerful i can scan these massive sub routines for changes without so much as a hic-up. but on a weaker slower MCU, such a scan would take considerably more time. I use the atom pro 40 on the controller end, because i wanted the controller to do most of the thinking. I can base bots on nano 18′s or even smaller micro controllers like slow 8 pin PICs, because the controller does all the thinking.

If you want, just say the word and i’ll email you my bas files, but the commenting in it is minimal at best but the code is so easy to follow, it’s all straight forward.