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Alex B.
2025-07-01 02:00:13 -04:00
parent eee6cdd717
commit c2cc5f6063
1 changed files with 33 additions and 0 deletions
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33
ESP-IDF_Robot/tutorial/docs/source/overview.rst
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@@ -64,6 +64,39 @@ The *struct* for storing motors PWM values.
int motor4_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 = 240;
buffer.y_axis = 256;
buffer.nav_bttn = 0;
buffer.motor1_rpm_pwm = 10;
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 Schematic
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