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Alex B.
2025-01-04 20:10:33 -05:00
parent a28130ff76
commit 3dd9bfec7e
1 changed files with 12 additions and 7 deletions
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19
ESP-IDF_Robot/README.md
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@@ -80,15 +80,15 @@ void sendData (void) {
buffer.x_axis = 240; buffer.x_axis = 240;
buffer.y_axis = 256; buffer.y_axis = 256;
buffer.nav_bttn = 0; buffer.nav_bttn = 0;
buffer.motor1_rpm_pcm = 10; buffer.motor1_rpm_pwm = 10;
buffer.motor2_rpm_pcm = 0; buffer.motor2_rpm_pwm = 0;
buffer.motor3_rpm_pcm = 0; buffer.motor3_rpm_pwm = 0;
buffer.motor4_rpm_pcm = 0; buffer.motor4_rpm_pwm = 0;
// Display brief summary of data being sent. // Display brief summary of data being sent.
ESP_LOGI(TAG, "Joystick (x,y) position ( 0x%04X, 0x%04X )", (uint8_t)buffer.x_axis, (uint8_t)buffer.y_axis); ESP_LOGI(TAG, "Joystick (x,y) position ( 0x%04X, 0x%04X )", (uint8_t)buffer.x_axis, (uint8_t)buffer.y_axis);
ESP_LOGI(TAG, "pcm 1, pcm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor1_rpm_pcm, (uint8_t)buffer.motor2_rpm_pcm); ESP_LOGI(TAG, "pwm 1, pwm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.pwm, (uint8_t)buffer.pwm);
ESP_LOGI(TAG, "pcm 3, pcm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor3_rpm_pcm, (uint8_t)buffer.motor4_rpm_pcm); ESP_LOGI(TAG, "pwm 3, pwm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.pwm, (uint8_t)buffer.pwm);
// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length) // 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(receiver_mac, &buffer, sizeof(buffer)); uint8_t result = esp_now_send(receiver_mac, &buffer, sizeof(buffer));
@@ -159,7 +159,7 @@ void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len) {
ESP_LOGW(TAG, "Data was received"); ESP_LOGW(TAG, "Data was received");
ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis); ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis);
ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis); ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis);
ESP_LOGI(TAG, "PCM 1: 0x%04x", buf->motor1_rpm_pcm); ESP_LOGI(TAG, "PWM 1: 0x%04x", buf->motor1_rpm_pwm);
} }
// Call-back for the event when data is being sent // Call-back for the event when data is being sent
@@ -189,5 +189,10 @@ static void rc_send_data_task (void *arg) {
| crc | | | | crc | | |
| x_axis | | | | x_axis | | |
| y_axis | | | | y_axis | | |
| nav_btn | | |
| motor1_rpm_pwm | | |
| motor2_rpm_pwm | | |
| motor3_rpm_pwm | | |
| motor4_rpm_pwm | | |
| MTR_FREQUENCY | 5000 | Default PWM frequency, Hz. | | MTR_FREQUENCY | 5000 | Default PWM frequency, Hz. |