alex/ESP-Nodes
1
0
Fork 0
mirror of https://github.com/alexandrebobkov/ESP-Nodes.git synced 2025-09-30 22:41:05 +00:00
Code Issues Packages Projects Releases Wiki Activity

descriptions

Browse Source
This commit is contained in:
Alex B.
2025-07-01 02:01:24 -04:00
parent 418ab5523b
commit b385ad2467
8 changed files with 127 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

52
ESP-IDF_Robot/tutorial/docs/build/simplepdf/index.html vendored
View File

@@ -431,14 +431,58 @@ Changing PWM on each channel determines the speed and direction of the RC car.
¶
</a>
</h3>
<p>
The
<em>
struct
</em>
for storing motors PWM values.
</p>
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="k">struct</span><span class="w"> </span><span class="nc">motors_rpm</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">motor1_rpm_pcm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pcm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor3_rpm_pcm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor4_rpm_pcm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor3_rpm_pwm</span><span class="p">;</span>
<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor4_rpm_pwm</span><span class="p">;</span>
<span class="p">};</span>
</pre>
</div>
</div>
<p>
The function for updating motors&rsquo; PWM values.
</p>
<div class="highlight-c notranslate">
<div class="highlight">
<pre><span></span><span class="c1">// Function to send data to the receiver</span>
<span class="kt">void</span><span class="w"> </span><span class="nf">sendData</span><span class="w"> </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="n">sensors_data_t</span><span class="w"> </span><span class="n">buffer</span><span class="p">;</span><span class="w"> </span><span class="c1">// Declare data struct</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">crc</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">x_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">y_axis</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">nav_bttn</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor1_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor2_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor3_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="n">buffer</span><span class="p">.</span><span class="n">motor4_rpm_pwm</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="mi">0</span><span class="p">;</span>
<span class="w"> </span><span class="c1">// Display brief summary of data being sent.</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">"Joystick (x,y) position ( 0x%04X, 0x%04X )"</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">x_axis</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</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, pwm 2 [ 0x%04X, 0x%04X ]"</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</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 3, pwm 4 [ 0x%04X, 0x%04X ]"</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</span><span class="p">,</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="p">)</span><span class="n">buffer</span><span class="p">.</span><span class="n">pwm</span><span class="p">);</span>
<span class="w"> </span><span class="c1">// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data &amp; data length)</span>
<span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">result</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="n">esp_now_send</span><span class="p">(</span><span class="n">receiver_mac</span><span class="p">,</span><span class="w"> </span><span class="o">&amp;</span><span class="n">buffer</span><span class="p">,</span><span class="w"> </span><span class="k">sizeof</span><span class="p">(</span><span class="n">buffer</span><span class="p">));</span>
<span class="w"> </span><span class="c1">// If status is NOT OK, display error message and error code (in hexadecimal).</span>
<span class="w"> </span><span class="k">if</span><span class="w"> </span><span class="p">(</span><span class="n">result</span><span class="w"> </span><span class="o">!=</span><span class="w"> </span><span class="mi">0</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
<span class="w"> </span><span class="n">ESP_LOGE</span><span class="p">(</span><span class="s">"ESP-NOW"</span><span class="p">,</span><span class="w"> </span><span class="s">"Error sending data! Error code: 0x%04X"</span><span class="p">,</span><span class="w"> </span><span class="n">result</span><span class="p">);</span>
<span class="w"> </span><span class="n">deletePeer</span><span class="p">();</span>
<span class="w"> </span><span class="p">}</span>
<span class="w"> </span><span class="k">else</span>
<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="s">"ESP-NOW"</span><span class="p">,</span><span class="w"> </span><span class="s">"Data was sent."</span><span class="p">);</span>
<span class="p">}</span>
</pre>
</div>
</div>