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Alex B.
2025-01-04 20:02:47 -05:00
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ESP-IDF_Robot/README.md
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@@ -53,6 +53,41 @@ Once analog signals are measured, their magnitudes are converted into PWM values
ESP-NOW is used to communicate data between Controller and Receiver.
The function _sendData()_ is a core function that sends data to the received using ESP-NOW.
```C
// Function to send data to the receiver
void sendData (void) {
sensors_data_t buffer; // Declare data struct
buffer.crc = 0;
buffer.x_axis = 240;
buffer.y_axis = 256;
buffer.nav_bttn = 0;
buffer.motor1_rpm_pcm = 10;
buffer.motor2_rpm_pcm = 0;
buffer.motor3_rpm_pcm = 0;
buffer.motor4_rpm_pcm = 0;
// 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, "pcm 1, pcm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor1_rpm_pcm, (uint8_t)buffer.motor2_rpm_pcm);
ESP_LOGI(TAG, "pcm 3, pcm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.motor3_rpm_pcm, (uint8_t)buffer.motor4_rpm_pcm);
// 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));
// If status is NOT OK, display error message and error code (in hexadecimal).
if (result != 0) {
ESP_LOGE("ESP-NOW", "Error sending data! Error code: 0x%04X", result);
deletePeer();
}
else
ESP_LOGW("ESP-NOW", "Data was sent.");
}
```
Since ESP-NOW uses wireless module, Wi-Fi needs to be initialized before configuring ESP-NOW.
```C
@@ -118,6 +153,20 @@ void onDataSent (uint8_t *mac_addr, esp_now_send_status_t status) {
}
```
The _rc_send_data_task()_ function runs every second to send data over ESP-NOW.
```C
// Continous, periodic task that sends data.
static void rc_send_data_task (void *arg) {
while (true) {
if (esp_now_is_peer_exist(receiver_mac))
sendData();
vTaskDelay (1000 / portTICK_PERIOD_MS);
}
}
```
#### RC Controller
RC Controller uses the two ADC on ESP32-C3 to sample voltage levels on joystick x- and y- axis potentionometers. Then, these values are stored in a struct.