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ESP-IDF_Robot/tutorial/docs/source/data.rst

@@ -30,3 +30,14 @@ Struct Walkthrough
 
 *motor1_rpm_pwm* to *motor4_rpm_pwm* provide individual PWM signals to four DC motors.
 This enables fine-grained speed control, supports differential drive configurations, and even allows for maneuvering in multi-directional platforms like omni-wheel robots.
+
+Why Use __attribute((packed))?
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The packed attribute tells the compiler not to add any padding between fields in memory. This makes the struct:
+
+   - Compact
+   - Predictable for serialization over protocols like UART or ESP-NOW
+   - Ideal for low-latency transmission in embedded systems
+
+This ensures the receiver interprets the exact byte layout you expect, minimizing bandwidth and maximizing compatibility across platforms.