From aac6a1928f8ce0eec1877eddeeef1d7d87b58acb Mon Sep 17 00:00:00 2001 From: Alexandre Bobkov Date: Sat, 5 Jul 2025 18:50:49 -0400 Subject: [PATCH] manual --- .../docs/build/doctrees/environment.pickle | Bin 26313 -> 26245 bytes .../docs/build/doctrees/receiver.doctree | Bin 6161 -> 7387 bytes .../docs/build/doctrees/transmitter.doctree | Bin 6442 -> 6626 bytes .../docs/build/html/_sources/receiver.rst.txt | 30 +++++++++++- .../build/html/_sources/transmitter.rst.txt | 10 ++++ .../tutorial/docs/build/html/receiver.html | 32 ++++++++++++- .../tutorial/docs/build/html/searchindex.js | 2 +- .../tutorial/docs/build/html/transmitter.html | 12 ++++- .../tutorial/docs/build/simplepdf/.buildinfo | 2 +- .../tutorial/docs/build/simplepdf/index.html | 44 ++++++++++++++++-- .../tutorial/docs/source/receiver.rst | 30 +++++++++++- 11 files changed, 152 insertions(+), 10 deletions(-) diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle 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binary patch delta 1405 zcmbPeaNCl#fpzKynT@QDOso;YObiT@J(vRPxwuLy3sO^3(-ewJib|796soxtfFLuk z1Vn*BMSNmKX0bJl3#Rq;6}<8*i%T+-vlS|I3-XIIOEUBGFtk<@&{|oKsy8V=KL=({ zUSe5%Qb|c3vc<^O7L*oeC?u7ZltAr8)|-=>f~*bZWFJ=-1%E$%e>XRvZxc&WxfJSw zQl&u8TEs*Ao10&fUt}0xRFE5AP@W4h188YLxNosST7Hp&iGqu>0$5Qo*s~aVjo^B* z%NwK02Vxjtf>2Pa5FejdQc{!&^kr&%yoN?WVsdtBil(MQacW+1eo=9JN@7W3e2Mjx z4EES58KR@HI!I#Gg&MKC`4iI=Mt5aX8l?zMS$cYU3Q&x} zpB%{cU)P!oLmZS3koDEV5)KLGDiJn!asayvqvYhN>~)Odle-z^CL3{N@oS@aWZ7g! zo@8-kw;-`6^KeQK_T=VDo-0h+#QTw2Rw@v(ai_@% diff --git a/ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree b/ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree index 283e6b96a65525c381a7b32f63ff126d435c105d..93b799cf3649e9825fd848270c156aac9f569329 100644 GIT binary patch delta 138 zcmZ2w^vIZ{fpzNjjV!J_j0uyyc>LA$^z;;r~c;6 YJaZW*r*LYKty6jOA1=<#*#i4H05>=%CjbBd delta 57 zcmaE4yvm5Bfpx0 B6A%CZ 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;
+
+    ... ... ...
+    ... ... ...
 }
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"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