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Alex B.
2025-07-05 18:49:48 -04:00
parent 824c6827cd
commit 04031172a4
7 changed files with 71 additions and 17 deletions
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ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle vendored
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ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree vendored
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ESP-IDF_Robot/tutorial/docs/build/html/_sources/transmitter.rst.txt vendored
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@@ -8,17 +8,35 @@ Configuration Variables
uint8_t receiver_mac[ESP_NOW_ETH_ALEN] = {0xe4, 0xb0, 0x63, 0x17, 0x9e, 0x44};
typedef struct {
int x_axis; // Joystick x-position
int y_axis; // Joystick y-position
bool nav_bttn; // Joystick push button
bool led; // LED ON/OFF state
uint8_t motor1_rpm_pwm; // PWMs for 4 DC motors
uint8_t motor2_rpm_pwm;
uint8_t motor3_rpm_pwm;
uint8_t motor4_rpm_pwm;
} __attribute__((packed)) sensors_data_t;
Sending & Ecapsulating Data
----------------------------
.. code-block:: c
void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_len) {
ESP_LOGI(TAG, "Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5], data_len);
memcpy(&buf, data, sizeof(buf));
void sendData (void) {
x_axis = buf.x_axis;
y_axis = buf.y_axis
... ... ...
... ... ...
buffer.x_axis = x_axis;
buffer.y_axis = y_axis;
// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)
uint8_t result = esp_now_send((uint8_t*)receiver_mac, (uint8_t *)&buffer, sizeof(buffer));
... ... ...
... ... ...
}
Main Function

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@@ -38,17 +38,35 @@
<section id="configuration-variables">
<h2>Configuration Variables<a class="headerlink" href="#configuration-variables" title="Link to this heading"></a></h2>
<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">receiver_mac</span><span class="p">[</span><span class="n">ESP_NOW_ETH_ALEN</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span><span class="mh">0xe4</span><span class="p">,</span><span class="w"> </span><span class="mh">0xb0</span><span class="p">,</span><span class="w"> </span><span class="mh">0x63</span><span class="p">,</span><span class="w"> </span><span class="mh">0x17</span><span class="p">,</span><span class="w"> </span><span class="mh">0x9e</span><span class="p">,</span><span class="w"> </span><span class="mh">0x44</span><span class="p">};</span>
<span class="k">typedef</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">x_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick x-position</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">y_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick y-position</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">nav_bttn</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick push button</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">led</span><span class="p">;</span><span class="w"> </span><span class="c1">// LED ON/OFF state</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span><span class="w"> </span><span class="c1">// PWMs for 4 DC motors</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
<span class="p">}</span><span class="w"> </span><span class="n">__attribute__</span><span class="p">((</span><span class="n">packed</span><span class="p">))</span><span class="w"> </span><span class="n">sensors_data_t</span><span class="p">;</span>
</pre></div>
</div>
</section>
<section id="sending-ecapsulating-data">
<h2>Sending &amp; Ecapsulating Data<a class="headerlink" href="#sending-ecapsulating-data" title="Link to this heading"></a></h2>
<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">onDataReceived</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">data_len</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">&quot;Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d&quot;</span><span class="p">,</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">4</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">5</span><span class="p">],</span><span class="w"> </span><span class="n">data_len</span><span class="p">);</span>
<span class="w"> </span><span class="n">memcpy</span><span class="p">(</span><span class="o">&amp;</span><span class="n">buf</span><span class="p">,</span><span class="w"> </span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buf</span><span class="p">));</span>
<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">sendData</span><span class="w"> </span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">x_axis</span><span class="p">;</span>
<span class="w"> </span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">y_axis</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">x_axis</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">y_axis</span><span class="p">;</span>
<span class="w"> </span><span class="c1">// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data &amp; data length)</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">result</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">esp_now_send</span><span class="p">((</span><span class="kt">uint8_t</span><span class="o">*</span><span class="p">)</span><span class="n">receiver_mac</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="o">&amp;</span><span class="n">buffer</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buffer</span><span class="p">));</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="p">}</span>
</pre></div>
</div>

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# Sphinx build info version 1
# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
config: c84e9a24b4b5243a11a3d8598e6c5945
config: 8f834b1b52b9d2100bf8fc323cfd0679
tags: 62a1e7829a13fc7881b6498c52484ec0

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@@ -782,6 +782,17 @@ This enables fine-grained speed control, supports differential drive configurati
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">receiver_mac</span><span class="p">[</span><span class="n">ESP_NOW_ETH_ALEN</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span><span class="mh">0xe4</span><span class="p">,</span><span class="w"> </span><span class="mh">0xb0</span><span class="p">,</span><span class="w"> </span><span class="mh">0x63</span><span class="p">,</span><span class="w"> </span><span class="mh">0x17</span><span class="p">,</span><span class="w"> </span><span class="mh">0x9e</span><span class="p">,</span><span class="w"> </span><span class="mh">0x44</span><span class="p">};</span>
<span class="k">typedef</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">x_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick x-position</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">y_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick y-position</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">nav_bttn</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick push button</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">led</span><span class="p">;</span><span class="w"> </span><span class="c1">// LED ON/OFF state</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span><span class="w"> </span><span class="c1">// PWMs for 4 DC motors</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
<span class="p">}</span><span class="w"> </span><span class="n">__attribute__</span><span class="p">((</span><span class="n">packed</span><span class="p">))</span><span class="w"> </span><span class="n">sensors_data_t</span><span class="p">;</span>
</pre>
</div>
</div>
@@ -795,12 +806,19 @@ This enables fine-grained speed control, supports differential drive configurati
</h3>
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">onDataReceived</span><span class="w"> </span><span class="p">(</span><span class="k">const</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="k">const</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">data_len</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">ESP_LOGI</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d"</span><span class="p">,</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">4</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">5</span><span class="p">],</span><span class="w"> </span><span class="n">data_len</span><span class="p">);</span>
<span class="w"> </span><span class="n">memcpy</span><span class="p">(</span><span class="o">&amp;</span><span class="n">buf</span><span class="p">,</span><span class="w"> </span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buf</span><span class="p">));</span>
<pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">sendData</span><span class="w"> </span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">x_axis</span><span class="p">;</span>
<span class="w"> </span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">y_axis</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">x_axis</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">y_axis</span><span class="p">;</span>
<span class="w"> </span><span class="c1">// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data &amp; data length)</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">result</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">esp_now_send</span><span class="p">((</span><span class="kt">uint8_t</span><span class="o">*</span><span class="p">)</span><span class="n">receiver_mac</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="p">)</span><span class="o">&amp;</span><span class="n">buffer</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buffer</span><span class="p">));</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="p">}</span>
</pre>
</div>