Rover arm pretty much working! Still some minor changes needed probably, but very happy with it. Lots of misc changes.

software/firmware/temp/original_rdf.ino

@@ -0,0 +1,84 @@
+#define Rpin A5                 //Reciever pin is A1
+int sensitivity = 50;           //the lower this number, the more sensitive.
+int state;                      //=1 if can hear ping        =2 if cannot hear ping
+float freq;
+float ambientNoise;
+unsigned long totalDataPoints;
+int dataBuff[3];
+int data[3];
+unsigned long t1,t2,t3;
+int dt1,dt2 =0;
+float dtavg;
+int tcnt =2;
+bool upstate = false;
+bool mode = false;                      //switches between two modes (t/f)
+void setup() {
+  pinMode(Rpin, INPUT);
+  Serial.begin(9600);
+  totalDataPoints = 0;
+  state = 2;
+}
+void dataSet(){
+  for(int i=0;i<3;i++){
+    data[i]=analogRead(Rpin);
+    delay(1);
+  }
+}
+int changeCheck(){
+    int newSignalState = 0;                // 0= no change      1= signal start       2= signal stop
+    if((data[0])>(dataBuff[2]+sensitivity)||data[2] > data[0]+sensitivity)
+      newSignalState = 1;
+    if((data[2] < data[0]-sensitivity)||(data[0]<(dataBuff[2]-sensitivity)))
+      newSignalState = 2;
+    return newSignalState;
+
+}
+void loop() {
+
+  if(Serial.available()){
+    Serial.read();
+    mode = !mode;
+  }
+  if(mode == true){                      //mode 1 is raw output from the antena.
+    Serial.println(analogRead(Rpin));
+    delay(1);
+  }
+  else{
+    for(int i=0;i<3;i++)
+      dataBuff[i] = data[i];
+    dataSet();
+    int change = changeCheck();
+    if(change){
+      state = change;
+      if(change == 1){
+        t1 = millis();
+        dt1 = t1-t2;
+      }else{
+        t2 = millis();
+        dt2 = t2-t1;
+      }
+      if(dt2>dt1-100&&dt1>dt2-100){
+        dtavg = (dtavg*float(tcnt-2)/float(tcnt))+(((dt1+dt2)/2.0)*float(2.0/tcnt));
+        tcnt += 2;
+        freq = 500.0/dtavg;
+      }
+    }
+    if(change ==1 || millis() > dtavg*2+t3){
+      t3 = millis();
+      upstate = true;
+    }
+    if(millis()<t3+dtavg){
+      for(int i=0;i<3;i++){
+        Serial.print(data[i]-ambientNoise);
+        Serial.print(", ");
+        Serial.println(freq);
+      }
+    }else{
+      float avgdat,dtot =0;
+      for(int i=0;i<3;i++)
+        dtot+=data[i];
+      avgdat = dtot/3.0;
+      ambientNoise = ambientNoise*float(totalDataPoints)/float(totalDataPoints+3)+avgdat*(3.0/float(totalDataPoints+3));
+    }
+  }
+}