{"id":770,"date":"2026-06-12T15:17:35","date_gmt":"2026-06-12T07:17:35","guid":{"rendered":"https:\/\/projectleon.net\/make\/blog\/lora-sx1278-remote-control-self-balancing-scooter-2km-farsi\/"},"modified":"2026-06-12T20:37:12","modified_gmt":"2026-06-12T12:37:12","slug":"lora-sx1278-remote-control-self-balancing-scooter-2km-farsi","status":"publish","type":"post","link":"https:\/\/projectleon.net\/make\/blog\/lora-sx1278-remote-control-self-balancing-scooter-2km-farsi\/","title":{"rendered":"\u06a9\u0646\u062a\u0631\u0644 \u0627\u0632 \u0631\u0627\u0647 \u062f\u0648\u0631 \u0627\u0633\u06a9\u0648\u062a\u0631 \u062e\u0648\u062f\u0645\u062a\u0648\u0627\u0632\u0646 \u0628\u0627 LoRa SX1278 \u2014 \u06f2 \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u0628\u0631\u062f (\u0641\u0627\u0631\u0633\u06cc)"},"content":{"rendered":"
\n\u06a9\u0646\u062a\u0631\u0644 \u0627\u0633\u06a9\u0648\u062a\u0631 \u0628\u0627 LoRa SX1278 \u0622\u0631\u062f\u0648\u06cc\u0646\u0648\n<\/div>\n
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\u0686\u0631\u0627 LoRa \u0628\u0647\u062a\u0631 \u0627\u0632 \u0628\u0644\u0648\u062a\u0648\u062b \u06cc\u0627 WiFi \u0627\u0633\u062a\u061f<\/h2>\n

LoRa (Long Range)<\/strong> \u06cc\u06a9 \u0645\u062f\u0648\u0644\u0627\u0633\u06cc\u0648\u0646 \u0631\u0627\u062f\u06cc\u0648\u06cc\u06cc \u0627\u0633\u062a \u06a9\u0647 \u062f\u0631 \u0628\u0627\u0646\u062f Sub-GHz (\u06f4\u06f3\u06f3MHz \u06cc\u0627 \u06f9\u06f1\u06f5MHz) \u06a9\u0627\u0631 \u0645\u06cc\u200c\u06a9\u0646\u062f \u0648 \u0628\u0631\u062f \u06f2\u2013\u06f1\u06f0 \u06a9\u06cc\u0644\u0648\u0645\u062a\u0631 \u062f\u0627\u0631\u062f \u2014 \u0628\u0627 \u062a\u0648\u0627\u0646 \u0641\u0631\u0633\u062a\u0646\u062f\u0647 \u0641\u0642\u0637 \u06f1\u06f0\u06f0mW! \u0627\u06cc\u0646 \u062f\u0631 \u0645\u0642\u0627\u0628\u0644 \u0628\u0644\u0648\u062a\u0648\u062b (\u06f1\u06f0m) \u0648 WiFi (\u06f5\u06f0m) \u062a\u0641\u0627\u0648\u062a \u0639\u0638\u06cc\u0645\u06cc \u0627\u0633\u062a. \u0628\u0631\u0627\u06cc \u06a9\u0646\u062a\u0631\u0644 UGV \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0627\u0632 LoRa \u0627\u06cc\u062f\u0647\u200c\u0622\u0644 \u0627\u0633\u062a. \u0645\u0627\u0698\u0648\u0644 SX1278<\/strong> (\u0645\u0639\u0645\u0648\u0644\u0627\u064b \u0628\u0627 \u0628\u0631\u0686\u0633\u0628 Ra-02) \u06cc\u06a9\u06cc \u0627\u0632 \u0627\u0631\u0632\u0627\u0646\u200c\u062a\u0631\u06cc\u0646 (~\u06f1\u06f5\u06f0K \u062a\u0648\u0645\u0627\u0646) \u0648 \u0645\u062d\u0628\u0648\u0628\u200c\u062a\u0631\u06cc\u0646 \u0645\u0627\u0698\u0648\u0644\u200c\u0647\u0627\u06cc LoRa \u0628\u0631\u0627\u06cc \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0627\u0633\u062a.<\/p>\n

\u0646\u06a9\u062a\u0647: LoRa \u0628\u0631\u0627\u06cc \u062f\u0627\u062f\u0647\u200c\u0647\u0627\u06cc \u06a9\u0648\u0686\u06a9 (\u0686\u0646\u062f \u0628\u0627\u06cc\u062a) \u0648 \u062a\u0623\u062e\u06cc\u0631 ~\u06f5\u06f0\u2013\u06f2\u06f0\u06f0ms \u0645\u0646\u0627\u0633\u0628 \u0627\u0633\u062a. \u0628\u0631\u0627\u06cc FPV \u0648\u06cc\u062f\u0626\u0648 \u0627\u0633\u062a\u0641\u0627\u062f\u0647 \u0646\u0645\u06cc\u200c\u0634\u0648\u062f \u2014 \u0641\u0642\u0637 \u0628\u0631\u0627\u06cc \u062f\u0633\u062a\u0648\u0631 \u06a9\u0646\u062a\u0631\u0644 \u0648 \u062a\u0644\u0647\u200c\u0645\u062a\u0631\u06cc.<\/p>\n<\/div>\n

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🛠️ \u06a9\u0627\u0631\u062a \u067e\u0631\u0648\u0698\u0647<\/h3>\n\n\n\n\n
\u0633\u06cc\u0633\u062a\u0645<\/td>\n\u06f2 \u0645\u0627\u0698\u0648\u0644 Ra-02 + \u0622\u0631\u062f\u0648\u06cc\u0646\u0648 \u0641\u0631\u0633\u062a\u0646\u062f\u0647 + \u0627\u0633\u06a9\u0648\u062a\u0631 \u06af\u06cc\u0631\u0646\u062f\u0647<\/td>\n<\/tr>\n
\u0628\u0631\u062f<\/td>\n~\u06f2km \u062f\u0631 \u0641\u0636\u0627\u06cc \u0628\u0627\u0632 \u0628\u0627 \u0622\u0646\u062a\u0646 \u06f1\/\u06f4\u03bb<\/td>\n<\/tr>\n
\u062a\u0623\u062e\u06cc\u0631<\/td>\n~\u06f1\u06f0\u06f0ms (SF=7, BW=125kHz)<\/td>\n<\/tr>\n<\/table>\n<\/div>\n

BOM<\/h2>\n\n\n\n\n\n\n\n\n\n
\u0642\u0637\u0639\u0647<\/th>\n\u062a\u0639\u062f\u0627\u062f<\/th>\n\u0642\u06cc\u0645\u062a<\/th>\n<\/tr>\n<\/thead>\n
\u0645\u0627\u0698\u0648\u0644 LoRa Ra-02 (SX1278) 433MHz<\/td>\n2<\/td>\n~\u06f3\u06f0\u06f0K<\/td>\n<\/tr>\n
Arduino Nano (\u0641\u0631\u0633\u062a\u0646\u062f\u0647)<\/td>\n1<\/td>\n~\u06f1\u06f0\u06f0K<\/td>\n<\/tr>\n
\u062c\u0648\u06cc\u200c\u0627\u0633\u062a\u06cc\u06a9 \u062f\u0648 \u0645\u062d\u0648\u0631\u0647 + \u062f\u06a9\u0645\u0647<\/td>\n1<\/td>\n~\u06f4\u06f0K<\/td>\n<\/tr>\n
LCD 16\u00d72 + I2C<\/td>\n1<\/td>\n~\u06f8\u06f0K<\/td>\n<\/tr>\n
Arduino Nano (\u06af\u06cc\u0631\u0646\u062f\u0647 \u0631\u0648\u06cc \u0627\u0633\u06a9\u0648\u062a\u0631)<\/td>\n1<\/td>\n~\u06f1\u06f0\u06f0K<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u0627\u062a\u0635\u0627\u0644 Ra-02 \u0628\u0647 Arduino (SPI)<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n\n
Ra-02<\/th>\nArduino Nano\/Uno<\/th>\n<\/tr>\n<\/thead>\n
VCC<\/td>\n3.3V (\u0645\u0633\u062a\u0642\u06cc\u0645 \u2014 \u0646\u0647 5V!)<\/td>\n<\/tr>\n
GND<\/td>\nGND<\/td>\n<\/tr>\n
SCK<\/td>\nD13<\/td>\n<\/tr>\n
MOSI<\/td>\nD11<\/td>\n<\/tr>\n
MISO<\/td>\nD12<\/td>\n<\/tr>\n
NSS\/CS<\/td>\nD10<\/td>\n<\/tr>\n
DIO0<\/td>\nD2 (interrupt)<\/td>\n<\/tr>\n
RST<\/td>\nD9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u06a9\u062f \u0641\u0631\u0633\u062a\u0646\u062f\u0647 (\u062f\u0633\u062a\u0647 \u06a9\u0646\u062a\u0631\u0644)<\/h2>\n
#include <SPI.h>\n#include <LoRa.h>\n\n#define JOY_X A0  \/\/ \u06af\u0627\u0632 \/ \u062a\u0631\u0645\u0632\n#define JOY_Y A1  \/\/ \u0641\u0631\u0645\u0627\u0646\n\nvoid setup(){\n  LoRa.begin(433E6);\n  LoRa.setSpreadingFactor(7);\n  LoRa.setSignalBandwidth(125E3);\n}\n\nvoid loop(){\n  int throttle = map(analogRead(JOY_X), 0,1023, -100,100);\n  int steering = map(analogRead(JOY_Y), 0,1023, -45,45);\n\n  LoRa.beginPacket();\n  LoRa.print(throttle); LoRa.print(','); LoRa.print(steering);\n  LoRa.endPacket();\n  delay(50);  \/\/ \u06f2\u06f0Hz\n}<\/code><\/pre>\n
\u06a9\u062f \u06af\u06cc\u0631\u0646\u062f\u0647 (\u0631\u0648\u06cc \u0627\u0633\u06a9\u0648\u062a\u0631)<\/h2>\n
#include <SPI.h>\n#include <LoRa.h>\n\nint rcThrottle=0, rcSteering=0;\n\nvoid setup(){\n  LoRa.begin(433E6);\n  LoRa.setSpreadingFactor(7);\n  LoRa.setSignalBandwidth(125E3);\n}\n\nvoid loop(){\n  int pktSize = LoRa.parsePacket();\n  if(pktSize){\n    String data = \"\";\n    while(LoRa.available()) data += (char)LoRa.read();\n    int comma = data.indexOf(',');\n    rcThrottle = data.substring(0,comma).toInt();\n    rcSteering = data.substring(comma+1).toInt();\n  }\n  \/\/ rcThrottle \u2192 \u0628\u0647 setpoint PID \u0627\u0636\u0627\u0641\u0647 \u06a9\u0646\n  \/\/ rcSteering \u2192 \u0628\u0647 \u0633\u0631\u0648 \u0641\u0631\u0645\u0627\u0646\n}<\/code><\/pre>\n
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