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Alex B.
2025-07-05 18:50:49 -04:00
parent 017402d472
commit aac6a1928f
11 changed files with 152 additions and 10 deletions
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ESP-IDF_Robot/tutorial/docs/build/doctrees/environment.pickle vendored
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ESP-IDF_Robot/tutorial/docs/build/doctrees/receiver.doctree vendored
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ESP-IDF_Robot/tutorial/docs/build/doctrees/transmitter.doctree vendored
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ESP-IDF_Robot/tutorial/docs/build/html/_sources/receiver.rst.txt vendored
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@@ -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();
... ... ...
... ... ...
}

10
ESP-IDF_Robot/tutorial/docs/build/html/_sources/transmitter.rst.txt vendored
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@@ -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();
... ... ...
... ... ...
}

32
ESP-IDF_Robot/tutorial/docs/build/html/receiver.html vendored
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@@ -38,17 +38,35 @@
<section id="configuration-variables">
<h2>Configuration Variables<a class="headerlink" href="#configuration-variables" title="Link to this heading"></a></h2>
<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">transmitter_mac</span><span class="p">[</span><span class="n">ESP_NOW_ETH_ALEN</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span><span class="mh">0x9C</span><span class="p">,</span><span class="w"> </span><span class="mh">0x9E</span><span class="p">,</span><span class="w"> </span><span class="mh">0x6E</span><span class="p">,</span><span class="w"> </span><span class="mh">0x14</span><span class="p">,</span><span class="w"> </span><span class="mh">0xB5</span><span class="p">,</span><span class="w"> </span><span class="mh">0x54</span><span class="p">};</span>
<span class="k">typedef</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">x_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick x-position</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">y_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick y-position</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">nav_bttn</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick push button</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">led</span><span class="p">;</span><span class="w"> </span><span class="c1">// LED ON/OFF state</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span><span class="w"> </span><span class="c1">// PWMs for 4 DC motors</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
<span class="p">}</span><span class="w"> </span><span class="n">__attribute__</span><span class="p">((</span><span class="n">packed</span><span class="p">))</span><span class="w"> </span><span class="n">sensors_data_t</span><span class="p">;</span>
</pre></div>
</div>
</section>
<section id="receiving-de-ecapsulating-data">
<h2>Receiving &amp; De-Ecapsulating Data<a class="headerlink" href="#receiving-de-ecapsulating-data" title="Link to this heading"></a></h2>
<div class="highlight-c notranslate"><div class="highlight"><pre><span></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="k">const</span><span class="w"> </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="k">const</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="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </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">&quot;Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d&quot;</span><span class="p">,</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">4</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">5</span><span class="p">],</span><span class="w"> </span><span class="n">data_len</span><span class="p">);</span>
<span class="w"> </span><span class="n">memcpy</span><span class="p">(</span><span class="o">&amp;</span><span class="n">buf</span><span class="p">,</span><span class="w"> </span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buf</span><span class="p">));</span>
<span class="w"> </span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">x_axis</span><span class="p">;</span>
<span class="w"> </span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">y_axis</span>
<span class="w"> </span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">y_axis</span><span class="p">;</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </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>
</pre></div>
</div>
@@ -60,7 +78,14 @@
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;nvs_flash.h&quot;</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;esp_err.h&quot;</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">app_main</span><span class="p">(</span><span class="kt">void</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>
<span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="kt">void</span><span class="w"> </span><span class="n">app_main</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="c1">// Initialize NVS</span>
<span class="w"> </span><span class="n">esp_err_t</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">nvs_flash_init</span><span class="p">();</span>
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NO_FREE_PAGES</span><span class="w"> </span><span class="o">||</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NEW_VERSION_FOUND</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
@@ -81,6 +106,9 @@
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="n">esp_now_register_recv_cb</span><span class="p">((</span><span class="kt">void</span><span class="o">*</span><span class="p">)</span><span class="n">onDataReceived</span><span class="p">));</span>
<span class="w"> </span><span class="n">system_led_init</span><span class="p">();</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </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>
</pre></div>
</div>

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ESP-IDF_Robot/tutorial/docs/build/html/transmitter.html vendored
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@@ -77,7 +77,14 @@
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;nvs_flash.h&quot;</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">&quot;esp_err.h&quot;</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">app_main</span><span class="p">(</span><span class="kt">void</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>
<span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="kt">void</span><span class="w"> </span><span class="n">app_main</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="c1">// Initialize internal temperature sensor</span>
<span class="w"> </span><span class="n">chip_sensor_init</span><span class="p">();</span>
@@ -92,6 +99,9 @@
<span class="w"> </span><span class="n">joystick_adc_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">transmission_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">system_led_init</span><span class="p">();</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </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>
</pre></div>
</div>

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

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@@ -837,7 +837,14 @@ This enables fine-grained speed control, supports differential drive configurati
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"nvs_flash.h"</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"esp_err.h"</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">app_main</span><span class="p">(</span><span class="kt">void</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>
<span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="kt">void</span><span class="w"> </span><span class="n">app_main</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="c1">// Initialize internal temperature sensor</span>
<span class="w"> </span><span class="n">chip_sensor_init</span><span class="p">();</span>
@@ -852,6 +859,9 @@ This enables fine-grained speed control, supports differential drive configurati
<span class="w"> </span><span class="n">joystick_adc_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">transmission_init</span><span class="p">();</span>
<span class="w"> </span><span class="n">system_led_init</span><span class="p">();</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </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>
</pre>
</div>
@@ -877,6 +887,17 @@ This enables fine-grained speed control, supports differential drive configurati
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">transmitter_mac</span><span class="p">[</span><span class="n">ESP_NOW_ETH_ALEN</span><span class="p">]</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">{</span><span class="mh">0x9C</span><span class="p">,</span><span class="w"> </span><span class="mh">0x9E</span><span class="p">,</span><span class="w"> </span><span class="mh">0x6E</span><span class="p">,</span><span class="w"> </span><span class="mh">0x14</span><span class="p">,</span><span class="w"> </span><span class="mh">0xB5</span><span class="p">,</span><span class="w"> </span><span class="mh">0x54</span><span class="p">};</span>
<span class="k">typedef</span><span class="w"> </span><span class="k">struct</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">x_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick x-position</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">y_axis</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick y-position</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">nav_bttn</span><span class="p">;</span><span class="w"> </span><span class="c1">// Joystick push button</span>
<span class="w"> </span><span class="kt">bool</span><span class="w"> </span><span class="n">led</span><span class="p">;</span><span class="w"> </span><span class="c1">// LED ON/OFF state</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span><span class="w"> </span><span class="c1">// PWMs for 4 DC motors</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
<span class="p">}</span><span class="w"> </span><span class="n">__attribute__</span><span class="p">((</span><span class="n">packed</span><span class="p">))</span><span class="w"> </span><span class="n">sensors_data_t</span><span class="p">;</span>
</pre>
</div>
</div>
@@ -891,11 +912,18 @@ This enables fine-grained speed control, supports differential drive configurati
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></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="k">const</span><span class="w"> </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="k">const</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="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </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">"Data received from: %02x:%02x:%02x:%02x:%02x:%02x, len=%d"</span><span class="p">,</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">3</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">4</span><span class="p">],</span><span class="w"> </span><span class="n">mac_addr</span><span class="p">[</span><span class="mi">5</span><span class="p">],</span><span class="w"> </span><span class="n">data_len</span><span class="p">);</span>
<span class="w"> </span><span class="n">memcpy</span><span class="p">(</span><span class="o">&amp;</span><span class="n">buf</span><span class="p">,</span><span class="w"> </span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buf</span><span class="p">));</span>
<span class="w"> </span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">x_axis</span><span class="p">;</span>
<span class="w"> </span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">y_axis</span>
<span class="w"> </span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">buf</span><span class="p">.</span><span class="n">y_axis</span><span class="p">;</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </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>
</pre>
</div>
@@ -915,7 +943,14 @@ This enables fine-grained speed control, supports differential drive configurati
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"nvs_flash.h"</span>
<span class="cp">#include</span><span class="w"> </span><span class="cpf">"esp_err.h"</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">app_main</span><span class="p">(</span><span class="kt">void</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>
<span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="kt">void</span><span class="w"> </span><span class="n">app_main</span><span class="p">(</span><span class="kt">void</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </span><span class="c1">// Initialize NVS</span>
<span class="w"> </span><span class="n">esp_err_t</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">nvs_flash_init</span><span class="p">();</span>
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NO_FREE_PAGES</span><span class="w"> </span><span class="o">||</span><span class="w"> </span><span class="n">ret</span><span class="w"> </span><span class="o">==</span><span class="w"> </span><span class="n">ESP_ERR_NVS_NEW_VERSION_FOUND</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
@@ -936,6 +971,9 @@ This enables fine-grained speed control, supports differential drive configurati
<span class="w"> </span><span class="n">ESP_ERROR_CHECK</span><span class="p">(</span><span class="n">esp_now_register_recv_cb</span><span class="p">((</span><span class="kt">void</span><span class="o">*</span><span class="p">)</span><span class="n">onDataReceived</span><span class="p">));</span>
<span class="w"> </span><span class="n">system_led_init</span><span class="p">();</span>
<span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
<span class="w"> </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>
</pre>
</div>

30
ESP-IDF_Robot/tutorial/docs/source/receiver.rst
View File

@@ -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();
... ... ...
... ... ...
}