diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle b/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle index 7f659f0d0..2be6e34d7 100644 Binary files a/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle and b/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle differ diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree b/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree index 8e4ea0586..7c22fae9a 100644 Binary files a/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree and b/ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree differ diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree b/ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree index 283e6b96a..93b799cf3 100644 Binary files a/ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree and b/ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree differ diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt index caed557f2..a91b8d5d0 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt +++ b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt @@ -8,17 +8,35 @@ Configuration Variables uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x9C, 0x9E, 0x6E, 0x14, 0xB5, 0x54}; + typedef struct { + int x_axis; // Joystick x-position + int y_axis; // Joystick y-position + bool nav_bttn; // Joystick push button + bool led; // LED ON/OFF state + uint8_t motor1_rpm_pwm; // PWMs for 4 DC motors + uint8_t motor2_rpm_pwm; + uint8_t motor3_rpm_pwm; + uint8_t motor4_rpm_pwm; + } __attribute__((packed)) sensors_data_t; + Receiving & De-Ecapsulating Data -------------------------------- .. code-block:: c void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_len) { + + ... ... ... + ... ... ... + ESP_LOGI(TAG, "Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5], data_len); memcpy(&buf, data, sizeof(buf)); x_axis = buf.x_axis; - y_axis = buf.y_axis + y_axis = buf.y_axis; + + ... ... ... + ... ... ... } Main Function @@ -31,7 +49,14 @@ Main Function #include "nvs_flash.h" #include "esp_err.h" + ... ... ... + ... ... ... + void app_main(void) { + + ... ... ... + ... ... ... + // Initialize NVS esp_err_t ret = nvs_flash_init(); if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { @@ -52,4 +77,7 @@ Main Function ESP_ERROR_CHECK(esp_now_register_recv_cb((void*)onDataReceived)); system_led_init(); + + ... ... ... + ... ... ... } \ No newline at end of file diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/transmitter.rst.txt b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/transmitter.rst.txt index 570d103e9..4a32ecb11 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/html/_sources/transmitter.rst.txt +++ b/ESP-IDF_Robot/tutorial/docs/build/html/_sources/transmitter.rst.txt @@ -48,7 +48,14 @@ Main Function #include "nvs_flash.h" #include "esp_err.h" + ... ... ... + ... ... ... + void app_main(void) { + + ... ... ... + ... ... ... + // Initialize internal temperature sensor chip_sensor_init(); @@ -63,4 +70,7 @@ Main Function joystick_adc_init(); transmission_init(); system_led_init(); + + ... ... ... + ... ... ... } \ No newline at end of file diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html b/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html index 08cbdce5a..9e5598e07 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html +++ b/ESP-IDF_Robot/tutorial/docs/build/html/receiver.html @@ -38,17 +38,35 @@

Configuration Variables

uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x9C, 0x9E, 0x6E, 0x14, 0xB5, 0x54};
+
+typedef struct {
+    int         x_axis;             // Joystick x-position
+    int         y_axis;             // Joystick y-position
+    bool        nav_bttn;           // Joystick push button
+    bool        led;                // LED ON/OFF state
+    uint8_t     motor1_rpm_pwm;     // PWMs for 4 DC motors
+    uint8_t     motor2_rpm_pwm;
+    uint8_t     motor3_rpm_pwm;
+    uint8_t     motor4_rpm_pwm;
+} __attribute__((packed)) sensors_data_t;

Receiving & De-Ecapsulating Data

void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_len) {
+
+    ... ... ...
+    ... ... ...
+
     ESP_LOGI(TAG, "Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5], data_len);
     memcpy(&buf, data, sizeof(buf));
 
     x_axis = buf.x_axis;
-    y_axis = buf.y_axis
+    y_axis = buf.y_axis;
+
+    ... ... ...
+    ... ... ...
 }
@@ -60,7 +78,14 @@ #include "nvs_flash.h" #include "esp_err.h" -void app_main(void) { +... ... ... +... ... ... + +void app_main(void) { + + ... ... ... + ... ... ... + // Initialize NVS esp_err_t ret = nvs_flash_init(); if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { @@ -81,6 +106,9 @@ ESP_ERROR_CHECK(esp_now_register_recv_cb((void*)onDataReceived)); system_led_init(); + + ... ... ... + ... ... ... } diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js b/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js index e736649f0..5453bbbe7 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js +++ b/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles":{"ByteRider documentation":[[1,null]],"Chassis":[[4,"chassis"]],"Configuration Variables":[[5,"configuration-variables"],[6,"configuration-variables"]],"DATA STRUCT":[[0,null]],"Data Payload":[[0,"data-payload"]],"Direction and 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STRUCT","ByteRider documentation","INTRODUCTION","HOW DOES IT WORK?","WORK-IN-PROGRESS WALK THROUGH","RECEIVER","TRANSMITTER"],"titleterms":{"IN":4,"IT":3,"__attribut":0,"axi":3,"byterid":1,"chassi":4,"configur":[5,6],"data":[0,5,6],"de":5,"direct":3,"document":1,"doe":3,"ecapsul":[5,6],"encapsul":[],"finish":4,"function":[5,6],"fusion":3,"gpio":3,"har":4,"hardwar":3,"how":3,"introduct":2,"main":[5,6],"motor":4,"pack":0,"payload":0,"pin":3,"progress":4,"receiv":5,"reserv":3,"schemat":3,"send":6,"softwar":3,"speed":3,"struct":0,"through":4,"transmitt":6,"us":0,"variabl":[5,6],"walk":4,"walkthrough":[],"why":0,"wire":4,"work":[3,4],"x":3,"y":3}}) \ No newline at end of file diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/transmitter.html b/ESP-IDF_Robot/tutorial/docs/build/html/transmitter.html index 1514ef295..bf7447590 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/html/transmitter.html +++ b/ESP-IDF_Robot/tutorial/docs/build/html/transmitter.html @@ -77,7 +77,14 @@ #include "nvs_flash.h" #include "esp_err.h" -void app_main(void) { +... ... ... +... ... ... + +void app_main(void) { + + ... ... ... + ... ... ... + // Initialize internal temperature sensor chip_sensor_init(); @@ -92,6 +99,9 @@ joystick_adc_init(); transmission_init(); system_led_init(); + + ... ... ... + ... ... ... } diff --git a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo index 97569d4f5..9bf2d546c 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/.buildinfo +++ b/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: 8f834b1b52b9d2100bf8fc323cfd0679 +config: 228fb0c7d74dd0583dc744bd9b07e243 tags: 62a1e7829a13fc7881b6498c52484ec0 diff --git a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html index b9d90d0fa..d011fca45 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html +++ b/ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html @@ -837,7 +837,14 @@ This enables fine-grained speed control, supports differential drive configurati #include "nvs_flash.h" #include "esp_err.h" -void app_main(void) { +... ... ... +... ... ... + +void app_main(void) { + + ... ... ... + ... ... ... + // Initialize internal temperature sensor chip_sensor_init(); @@ -852,6 +859,9 @@ This enables fine-grained speed control, supports differential drive configurati joystick_adc_init(); transmission_init(); system_led_init(); + + ... ... ... + ... ... ... } @@ -877,6 +887,17 @@ This enables fine-grained speed control, supports differential drive configurati 
uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x9C, 0x9E, 0x6E, 0x14, 0xB5, 0x54};
+
+typedef struct {
+    int         x_axis;             // Joystick x-position
+    int         y_axis;             // Joystick y-position
+    bool        nav_bttn;           // Joystick push button
+    bool        led;                // LED ON/OFF state
+    uint8_t     motor1_rpm_pwm;     // PWMs for 4 DC motors
+    uint8_t     motor2_rpm_pwm;
+    uint8_t     motor3_rpm_pwm;
+    uint8_t     motor4_rpm_pwm;
+} __attribute__((packed)) sensors_data_t;
@@ -891,11 +912,18 @@ This enables fine-grained speed control, supports differential drive configurati 
void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_len) {
+
+    ... ... ...
+    ... ... ...
+
     ESP_LOGI(TAG, "Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5], data_len);
     memcpy(&buf, data, sizeof(buf));
 
     x_axis = buf.x_axis;
-    y_axis = buf.y_axis
+    y_axis = buf.y_axis;
+
+    ... ... ...
+    ... ... ...
 }
@@ -915,7 +943,14 @@ This enables fine-grained speed control, supports differential drive configurati #include "nvs_flash.h" #include "esp_err.h" -void app_main(void) { +... ... ... +... ... ... + +void app_main(void) { + + ... ... ... + ... ... ... + // Initialize NVS esp_err_t ret = nvs_flash_init(); if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { @@ -936,6 +971,9 @@ This enables fine-grained speed control, supports differential drive configurati ESP_ERROR_CHECK(esp_now_register_recv_cb((void*)onDataReceived)); system_led_init(); + + ... ... ... + ... ... ... }
diff --git a/ESP-IDF_Robot/tutorial/docs/source/receiver.rst b/ESP-IDF_Robot/tutorial/docs/source/receiver.rst index caed557f2..a91b8d5d0 100644 --- a/ESP-IDF_Robot/tutorial/docs/source/receiver.rst +++ b/ESP-IDF_Robot/tutorial/docs/source/receiver.rst @@ -8,17 +8,35 @@ Configuration Variables uint8_t transmitter_mac[ESP_NOW_ETH_ALEN] = {0x9C, 0x9E, 0x6E, 0x14, 0xB5, 0x54}; + typedef struct { + int x_axis; // Joystick x-position + int y_axis; // Joystick y-position + bool nav_bttn; // Joystick push button + bool led; // LED ON/OFF state + uint8_t motor1_rpm_pwm; // PWMs for 4 DC motors + uint8_t motor2_rpm_pwm; + uint8_t motor3_rpm_pwm; + uint8_t motor4_rpm_pwm; + } __attribute__((packed)) sensors_data_t; + Receiving & De-Ecapsulating Data -------------------------------- .. code-block:: c void onDataReceived (const uint8_t *mac_addr, const uint8_t *data, uint8_t data_len) { + + ... ... ... + ... ... ... + ESP_LOGI(TAG, "Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d", mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5], data_len); memcpy(&buf, data, sizeof(buf)); x_axis = buf.x_axis; - y_axis = buf.y_axis + y_axis = buf.y_axis; + + ... ... ... + ... ... ... } Main Function @@ -31,7 +49,14 @@ Main Function #include "nvs_flash.h" #include "esp_err.h" + ... ... ... + ... ... ... + void app_main(void) { + + ... ... ... + ... ... ... + // Initialize NVS esp_err_t ret = nvs_flash_init(); if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) { @@ -52,4 +77,7 @@ Main Function ESP_ERROR_CHECK(esp_now_register_recv_cb((void*)onDataReceived)); system_led_init(); + + ... ... ... + ... ... ... } \ No newline at end of file