RC Robot Tutorial

ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo

@@ -1,4 +1,4 @@
 # 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: e22baa48f9e7069a3e9b5dc9ddc22300
+config: 796e17b103e65790f3a1610a89da3193
 tags: 62a1e7829a13fc7881b6498c52484ec0

ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html

@@ -725,7 +725,9 @@ left turn, the receiver translates the signal into 100% PWM on the left-side mot
 to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0% on the left, enabling precise directional control.
           </p>
           <p>
-           The table below summarizes the reserved GPIOs.
+           The table below summarizes the reserved GPIOs. These GPIOs are hard-wired to the corresponding components, and hard-coded in the
+corresponding functions. For example, the GPIOs 0 and 1 are hard-wired to the joystick x- and y- axis, respectively; and, hard-coded
+to read analog values and store them in the corresponding x- and y- variables.
           </p>
           <table class="docutils align-default">
            <thead>
@@ -910,11 +912,10 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
            </tbody>
           </table>
           <p>
-           The
+           The struct used to store motor PWM values is shown below. While the bitByteRider RC car can be effectively controlled using
-           <em>
+just two PWM signals&mdash;one for each side&mdash;the structure is designed to hold four values, allowing room for future enhancements. This
-            struct
+forward-thinking design supports potential upgrades such as improved maneuverability, individual wheel control, or advanced driving
-           </em>
+modes, making the system more adaptable and scalable for future development.
-           for storing motors PWM values.
           </p>
           <div class="highlight-c notranslate">
            <div class="highlight">
@@ -928,7 +929,11 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
            </div>
           </div>
           <p>
-           The function for updating motors&rsquo; PWM values.
+           On the transmitter`` device, the PWM values for the DC motors are send to the receover using the following function. The variable
+           <strong>
+            receiver_mac
+           </strong>
+           stores the MAC address of the receiver device (ESP32-C3 bitBoard on the RC car).
           </p>
           <div class="highlight-c notranslate">
            <div class="highlight">
@@ -965,29 +970,9 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
            </div>
           </div>
           <p>
-           The onDataReceived() and onDataSent() are two call-back functions that get evoked on each corresponding event.
+           This function is invoked by a dedicated FreeRTOS task every 100 milliseconds, ensuring consistent and timely transmission of
-          </p>
+control data to the receiver device. By leveraging FreeRTOS&rsquo;s precise task scheduling, the system maintains low-latency
-          <div class="highlight-c notranslate">
+communication and predictable behavior&mdash;critical for real-time control in embedded applications.
-           <div class="highlight">
-            <pre><span></span><span class="c1">// Call-back for the event when data is being received</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="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="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">buf</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="n">sensors_data_t</span><span class="o">*</span><span class="p">)</span><span class="n">data</span><span class="p">;</span><span class="w">                            </span><span class="c1">// Allocate memory for buffer to store data being received</span>
-<span class="w">    </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Data was received"</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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-&gt;</span><span class="n">x_axis</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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-&gt;</span><span class="n">y_axis</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">"PWM 1: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-&gt;</span><span class="n">motor1_rpm_pwm</span><span class="p">);</span>
-<span class="p">}</span>
-
-<span class="c1">// Call-back for the event when data is being sent</span>
-<span class="kt">void</span><span class="w"> </span><span class="nf">onDataSent</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="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="n">esp_now_send_status_t</span><span class="w"> </span><span class="n">status</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
-<span class="w">    </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Packet send status: 0x%04X"</span><span class="p">,</span><span class="w"> </span><span class="n">status</span><span class="p">);</span>
-<span class="p">}</span>
-</pre>
-           </div>
-          </div>
-          <p>
-           The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.
           </p>
           <div class="highlight-c notranslate">
            <div class="highlight">
@@ -1003,6 +988,41 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
 </pre>
            </div>
           </div>
+          <p>
+           As data is being sent, the function onDataSent() is called to check &amp; display the status of the data transmission.
+          </p>
+          <div class="highlight-c notranslate">
+           <div class="highlight">
+            <pre><span></span><span class="c1">// Call-back for the event when data is being sent</span>
+<span class="kt">void</span><span class="w"> </span><span class="nf">onDataSent</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="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="n">esp_now_send_status_t</span><span class="w"> </span><span class="n">status</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
+<span class="w">    </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Packet send status: 0x%04X"</span><span class="p">,</span><span class="w"> </span><span class="n">status</span><span class="p">);</span>
+<span class="p">}</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><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
+</pre>
+           </div>
+          </div>
+          <p>
+           On the receiver device, the data is saved in the variables by the call-back function onDataReceived().
+          </p>
+          <div class="highlight-c notranslate">
+           <div class="highlight">
+            <pre><span></span><span class="c1">// Call-back for the event when data is being received</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="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="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">buf</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="n">sensors_data_t</span><span class="o">*</span><span class="p">)</span><span class="n">data</span><span class="p">;</span><span class="w">                            </span><span class="c1">// Allocate memory for buffer to store data being received</span>
+<span class="w">    </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Data was received"</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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-&gt;</span><span class="n">x_axis</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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-&gt;</span><span class="n">y_axis</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">"PWM 1: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-&gt;</span><span class="n">motor1_rpm_pwm</span><span class="p">);</span>
+<span class="p">}</span>
+</pre>
+           </div>
+          </div>
+          <p>
+           The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.
+          </p>
          </section>
          <section id="schematic">
           <h3>