diff --git a/ESP-IDF_Robot_RC/main/controller.c b/ESP-IDF_Robot_RC/main/controller.c
index a0c4e5ddc..aa743290c 100644
--- a/ESP-IDF_Robot_RC/main/controller.c
+++ b/ESP-IDF_Robot_RC/main/controller.c
@@ -48,4 +48,78 @@ static void rc_send_data_task2 (void *pvParameter) {
         }
         vTaskDelay(5000 / portTICK_PERIOD_MS);
     }
+}
+
+static void rc_send_data_task (void *arg) {
+
+    while (true) {
+        flagToSend = !flagToSend;
+        if (esp_now_is_peer_exist(receiver_mac)) {
+            sendData();
+        }
+        vTaskDelay (1000 / portTICK_PERIOD_MS);
+    }
+}
+
+void sendData (void) {
+    // Send data, specify receiver MAC address, pointer to the data being sent, and length of data being sent.
+    sensors_data_t buffer;
+    buffer.type = 1;
+    buffer.crc = 0;
+    buffer.x_axis = 240;
+    buffer.y_axis = 2040;
+    buffer.nav_bttn = 0;
+    buffer.motor1_rpm_pcm = 10;
+    buffer.motor2_rpm_pcm = 0;
+    buffer.motor3_rpm_pcm = 0;
+    buffer.motor4_rpm_pcm = 0;
+    ESP_LOGI(TAG, "x-axis: 0x%04X", (uint8_t)buffer.x_axis);
+    ESP_LOGI(TAG, "y-axis: 0x%04X", (uint8_t)buffer.y_axis);
+    ESP_LOGI(TAG, "pcm 1: 0x%04X", buffer.motor1_rpm_pcm);
+    ESP_LOGI(TAG, "pcm 2: 0x%04X", (uint8_t)buffer.motor2_rpm_pcm);
+    ESP_LOGI(TAG, "pcm 3: 0x%04X", (uint8_t)buffer.motor3_rpm_pcm);
+    ESP_LOGI(TAG, "pcm 4: 0x%04X", (uint8_t)buffer.motor4_rpm_pcm);
+
+    //uint8_t result = esp_now_send(receiver_mac, &flagToSend, sizeof(flagToSend));
+    uint8_t result = esp_now_send(receiver_mac, &buffer, sizeof(buffer));
+    //uint8_t result = esp_now_send(receiver_mac, (sensors_data_t *)&buffer, sizeof(buffer));
+    if (result != 0) {
+        ESP_LOGE("ESP-NOW", "Error sending data!");
+        deletePeer();
+    }
+    else
+        ESP_LOGW("ESP-NOW", "Data was sent.");
+}
+
+
+/*
+    ESP-NOW
+*/
+/* Prepare ESPNOW data to be sent. */
+void sensors_data_prepare(espnow_data_packet_t *send_packet)
+{
+    //sensors_data_t *buffer;
+    //malloc(sizeof(sensors_data_t));
+    //send_packet->buffer = &buffer;
+    //sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
+    sensors_data_t *buffer = (sensors_data_t *)send_packet->buffer;
+    assert(send_packet->len >= sizeof(sensors_data_t));
+
+    buffer->type = 1;
+    buffer->crc = 0;
+    buffer->x_axis = 0;
+    buffer->y_axis = 0;
+    buffer->nav_bttn = 0;
+    buffer->motor1_rpm_pcm = 0;
+    buffer->motor2_rpm_pcm = 0;
+    buffer->motor3_rpm_pcm = 0;
+    buffer->motor4_rpm_pcm = 0;
+    ESP_LOGW(TAG, "x-axis: %x", (uint8_t)buffer->x_axis);
+    buffer->crc = esp_crc16_le(UINT16_MAX, (uint8_t const *)buffer, send_packet->len);
+}
+void deletePeer (void) {
+    uint8_t delStatus = esp_now_del_peer(receiver_mac);
+    if (delStatus != 0) {
+        ESP_LOGE("ESP-NOW", "Could not delete peer");
+    }
 }
\ No newline at end of file