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Alex B.
2025-07-01 02:01:24 -04:00
parent 418ab5523b
commit b385ad2467
8 changed files with 127 additions and 14 deletions
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@@ -53,15 +53,51 @@ Changing PWM on each channel determines the speed and direction of the RC car.
Fusion of Software & Hardware
-----------------------------
The *struct* for storing motors PWM values.
.. code-block:: c
struct motors_rpm {
int motor1_rpm_pcm;
int motor2_rpm_pcm;
int motor3_rpm_pcm;
int motor4_rpm_pcm;
int motor1_rpm_pwm;
int motor2_rpm_pwm;
int motor3_rpm_pwm;
int motor4_rpm_pwm;
};
The function for updating motors' PWM values.
.. code-block:: c
// Function to send data to the receiver
void sendData (void) {
sensors_data_t buffer; // Declare data struct
buffer.crc = 0;
buffer.x_axis = 0;
buffer.y_axis = 0;
buffer.nav_bttn = 0;
buffer.motor1_rpm_pwm = 0;
buffer.motor2_rpm_pwm = 0;
buffer.motor3_rpm_pwm = 0;
buffer.motor4_rpm_pwm = 0;
// Display brief summary of data being sent.
ESP_LOGI(TAG, "Joystick (x,y) position ( 0x%04X, 0x%04X )", (uint8_t)buffer.x_axis, (uint8_t)buffer.y_axis);
ESP_LOGI(TAG, "pwm 1, pwm 2 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.pwm, (uint8_t)buffer.pwm);
ESP_LOGI(TAG, "pwm 3, pwm 4 [ 0x%04X, 0x%04X ]", (uint8_t)buffer.pwm, (uint8_t)buffer.pwm);
// Call ESP-NOW function to send data (MAC address of receiver, pointer to the memory holding data & data length)
uint8_t result = esp_now_send(receiver_mac, &buffer, sizeof(buffer));
// If status is NOT OK, display error message and error code (in hexadecimal).
if (result != 0) {
ESP_LOGE("ESP-NOW", "Error sending data! Error code: 0x%04X", result);
deletePeer();
}
else
ESP_LOGW("ESP-NOW", "Data was sent.");
}
Schematic
---------

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@@ -103,14 +103,47 @@ Changing PWM on each channel determines the speed and direction of the RC car.</
</section>
<section id="fusion-of-software-hardware">
<h2>Fusion of Software &amp; Hardware<a class="headerlink" href="#fusion-of-software-hardware" title="Link to this heading"></a></h2>
<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’ 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">&quot;Joystick (x,y) position ( 0x%04X, 0x%04X )&quot;</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">&quot;pwm 1, pwm 2 [ 0x%04X, 0x%04X ]&quot;</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">&quot;pwm 3, pwm 4 [ 0x%04X, 0x%04X ]&quot;</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">&quot;ESP-NOW&quot;</span><span class="p">,</span><span class="w"> </span><span class="s">&quot;Error sending data! Error code: 0x%04X&quot;</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">&quot;ESP-NOW&quot;</span><span class="p">,</span><span class="w"> </span><span class="s">&quot;Data was sent.&quot;</span><span class="p">);</span>
<span class="p">}</span>
</pre></div>
</div>
</section>
<section id="schematic">
<h2>Schematic<a class="headerlink" href="#schematic" title="Link to this heading"></a></h2>

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# This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
config: 08f3115b2bc206aca8fd1cef44091c9d
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@@ -431,14 +431,58 @@ Changing PWM on each channel determines the speed and direction of the RC car.
&para;
</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>