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RC Robot Tutorial

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Alex B.
2025-07-19 01:34:55 -04:00
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ESP-IDF_Robot/tutorial/docs/build/html/data.html vendored
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<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" /><meta name="viewport" content="width=device-width, initial-scale=1" />
<title>DATA STRUCTS &#8212; Byte Rider 06-2025 documentation</title>
<title>3. DATA STRUCTS &#8212; Byte Rider 06-2025 documentation</title>
<link rel="stylesheet" type="text/css" href="_static/pygments.css?v=5ecbeea2" />
<link rel="stylesheet" type="text/css" href="_static/basic.css?v=b08954a9" />
<link rel="stylesheet" type="text/css" href="_static/alabaster.css?v=27fed22d" />
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<script src="_static/sphinx_highlight.js?v=dc90522c"></script>
<link rel="index" title="Index" href="genindex.html" />
<link rel="search" title="Search" href="search.html" />
<link rel="next" title="TRANSMITTER" href="transmitter.html" />
<link rel="prev" title="HOW DOES IT WORK?" href="overview.html" />
<link rel="next" title="4. TRANSMITTER" href="transmitter.html" />
<link rel="prev" title="2. HOW DOES IT WORK?" href="overview.html" />
<link rel="stylesheet" href="_static/custom.css" type="text/css" />
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<div class="body" role="main">
<section id="data-structs">
<h1>DATA STRUCTS<a class="headerlink" href="#data-structs" title="Link to this heading"></a></h1>
<h1><span class="section-number">3. </span>DATA STRUCTS<a class="headerlink" href="#data-structs" title="Link to this heading"></a></h1>
<p>The struct serves as the data payload for sending control signals from the transmitting device to the receiver using ESP-NOW.
In addition, it may contain additional data such as telemetry, battery status, etc. The <em>sensors_data_t</em> struct encapsulates all control commands and sensor states
relevant to the vehicle’s operation. It’s intended to be sent from a transmitting device (like a remote control) to a receiver
@@ -70,14 +70,14 @@ powerful in systems programming, embedded projects, and when dealing with raw bi
ESP-NOW.</p>
</div>
<section id="data-payload">
<h2>Data Payload<a class="headerlink" href="#data-payload" title="Link to this heading"></a></h2>
<h2><span class="section-number">3.1. </span>Data Payload<a class="headerlink" href="#data-payload" title="Link to this heading"></a></h2>
<p><em>x_axis</em> and <em>y_axis</em> fields capture analog input from a joystick, determining direction and speed.
<em>nav_bttn</em> represents a joystick push-button.</p>
<p><em>led</em> allows the transmitter to toggle an onboard LED and is used for status indication (e.g. pairing, battery warning, etc).</p>
<p><em>motor1_rpm_pwm</em> to <em>motor4_rpm_pwm</em> provide individual PWM signals to four DC motors.
This enables fine-grained speed control, supports differential drive configurations, and even allows for maneuvering in multi-directional platforms like omni-wheel robots.</p>
<section id="why-use-attribute-packed">
<h3>Why use __attribute((packed))?<a class="headerlink" href="#why-use-attribute-packed" title="Link to this heading"></a></h3>
<h3><span class="section-number">3.1.1. </span>Why use __attribute((packed))?<a class="headerlink" href="#why-use-attribute-packed" title="Link to this heading"></a></h3>
<p>ESP-NOW uses fixed-size data packets (up to 250 bytes). The <em>__attribute__((packed))</em> removes compiler-added padding for precise byte alignment.</p>
<p>As <em>packed</em> attribute tells the compiler not to add any padding between fields in memory, this makes the struct:</p>
<blockquote>
@@ -119,24 +119,27 @@ This enables fine-grained speed control, supports differential drive configurati
</search>
<script>document.getElementById('searchbox').style.display = "block"</script><h3>Navigation</h3>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="intro.html">OVERVIEW</a></li>
<li class="toctree-l1"><a class="reference internal" href="overview.html">HOW DOES IT WORK?</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">DATA STRUCTS</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#data-payload">Data Payload</a></li>
<li class="toctree-l1"><a class="reference internal" href="intro.html">1. OVERVIEW</a></li>
<li class="toctree-l1"><a class="reference internal" href="overview.html">2. HOW DOES IT WORK?</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">3. DATA STRUCTS</a><ul>
<li class="toctree-l2"><a class="reference internal" href="#data-payload">3.1. Data Payload</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#why-use-attribute-packed">3.1.1. Why use __attribute((packed))?</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="transmitter.html">TRANSMITTER</a></li>
<li class="toctree-l1"><a class="reference internal" href="receiver.html">RECEIVER</a></li>
<li class="toctree-l1"><a class="reference internal" href="progress.html">WORK-IN-PROGRESS WALK THROUGH</a></li>
<li class="toctree-l1"><a class="reference internal" href="references.html">REFERENCES</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="transmitter.html">4. TRANSMITTER</a></li>
<li class="toctree-l1"><a class="reference internal" href="receiver.html">5. RECEIVER</a></li>
<li class="toctree-l1"><a class="reference internal" href="progress.html">6. WORK-IN-PROGRESS WALK THROUGH</a></li>
<li class="toctree-l1"><a class="reference internal" href="references.html">7. REFERENCES</a></li>
</ul>
<div class="relations">
<h3>Related Topics</h3>
<ul>
<li><a href="index.html">Documentation overview</a><ul>
<li>Previous: <a href="overview.html" title="previous chapter">HOW DOES IT WORK?</a></li>
<li>Next: <a href="transmitter.html" title="next chapter">TRANSMITTER</a></li>
<li>Previous: <a href="overview.html" title="previous chapter"><span class="section-number">2. </span>HOW DOES IT WORK?</a></li>
<li>Next: <a href="transmitter.html" title="next chapter"><span class="section-number">4. </span>TRANSMITTER</a></li>
</ul></li>
</ul>
</div>