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By leveraging FreeRTOS's precise task scheduling, the system maintains low-latency +communication and predictable behavior—critical for real-time control in embedded applications. .. code-block:: c @@ -242,6 +231,35 @@ The rc_send_data_task() function runs every 0.1 second to transmit the data to t } } +As data is being sent, the function onDataSent() is called to check & display the status of the data transmission. + +.. code-block:: c + + // Call-back for the event when data is being sent + void onDataSent (uint8_t *mac_addr, esp_now_send_status_t status) { + ESP_LOGW(TAG, "Packet send status: 0x%04X", status); + } + + ... ... ... + ... ... ... + +On the receiver device, the data is saved in the variables by the call-back function onDataReceived(). + +.. code-block:: c + + // Call-back for the event when data is being received + void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len) { + + buf = (sensors_data_t*)data; // Allocate memory for buffer to store data being received + ESP_LOGW(TAG, "Data was received"); + ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis); + ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis); + ESP_LOGI(TAG, "PWM 1: 0x%04x", buf->motor1_rpm_pwm); + } + +The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver. + + Schematic --------- diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/overview.html b/ESP-IDF_Robot/tutorial/docs/build/html/overview.html index d18811a88..8222a0c56 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/html/overview.html +++ b/ESP-IDF_Robot/tutorial/docs/build/html/overview.html @@ -184,7 +184,9 @@ full speed.

Similarly, when the joystick is pushed fully to the left or right, the X-axis voltage shifts while the Y-axis remains neutral. For a left turn, the receiver translates the signal into 100% PWM on the left-side motors and 0% on the right-side motors, causing the car to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0% on the left, enabling precise directional control.

-

The table below summarizes the reserved GPIOs.

+

The table below summarizes the reserved GPIOs. These GPIOs are hard-wired to the corresponding components, and hard-coded in the +corresponding functions. For example, the GPIOs 0 and 1 are hard-wired to the joystick x- and y- axis, respectively; and, hard-coded +to read analog values and store them in the corresponding x- and y- variables.

@@ -231,7 +233,10 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0

GPIO

-

The struct for storing motors PWM values.

+

The struct used to store motor PWM values is shown below. While the bitByteRider RC car can be effectively controlled using +just two PWM signals—one for each side—the structure is designed to hold four values, allowing room for future enhancements. This +forward-thinking design supports potential upgrades such as improved maneuverability, individual wheel control, or advanced driving +modes, making the system more adaptable and scalable for future development.

struct motors_rpm {
     int motor1_rpm_pwm;
     int motor2_rpm_pwm;
@@ -240,7 +245,8 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
 };
-

The function for updating motors’ PWM values.

+

On the transmitter`` device, the PWM values for the DC motors are send to the receover using the following function. The variable +receiver_mac stores the MAC address of the receiver device (ESP32-C3 bitBoard on the RC car).

// Function to send data to the receiver
 void sendData (void) {
     sensors_data_t buffer;              // Declare data struct
@@ -272,24 +278,9 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
 }
-

The onDataReceived() and onDataSent() are two call-back functions that get evoked on each corresponding event.

-
// Call-back for the event when data is being received
-void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len) {
-
-    buf = (sensors_data_t*)data;                            // Allocate memory for buffer to store data being received
-    ESP_LOGW(TAG, "Data was received");
-    ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis);
-    ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis);
-    ESP_LOGI(TAG, "PWM 1: 0x%04x", buf->motor1_rpm_pwm);
-}
-
-// Call-back for the event when data is being sent
-void onDataSent (uint8_t *mac_addr, esp_now_send_status_t status) {
-    ESP_LOGW(TAG, "Packet send status: 0x%04X", status);
-}
-
-
-

The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.

+

This function is invoked by a dedicated FreeRTOS task every 100 milliseconds, ensuring consistent and timely transmission of +control data to the receiver device. By leveraging FreeRTOS’s precise task scheduling, the system maintains low-latency +communication and predictable behavior—critical for real-time control in embedded applications.

// Continous, periodic task that sends data.
 static void rc_send_data_task (void *arg) {
 
@@ -301,6 +292,29 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
 }
+

As data is being sent, the function onDataSent() is called to check & display the status of the data transmission.

+
// Call-back for the event when data is being sent
+void onDataSent (uint8_t *mac_addr, esp_now_send_status_t status) {
+    ESP_LOGW(TAG, "Packet send status: 0x%04X", status);
+}
+
+... ... ...
+... ... ...
+
+
+

On the receiver device, the data is saved in the variables by the call-back function onDataReceived().

+
// Call-back for the event when data is being received
+void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len) {
+
+    buf = (sensors_data_t*)data;                            // Allocate memory for buffer to store data being received
+    ESP_LOGW(TAG, "Data was received");
+    ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis);
+    ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis);
+    ESP_LOGI(TAG, "PWM 1: 0x%04x", buf->motor1_rpm_pwm);
+}
+
+
+

The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.

2.3. Schematic

diff --git a/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js b/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js index 3b5102743..b1c5ae6b1 100644 --- a/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js +++ b/ESP-IDF_Robot/tutorial/docs/build/html/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles":{"ABSTRACT":[[2,"abstract"]],"ByteRider Highlights":[[1,null]],"Chassis":[[4,"chassis"]],"Configuration Variables":[[5,"configuration-variables"],[7,"configuration-variables"]],"Controlling the Direction and Speed":[[3,"controlling-the-direction-and-speed"]],"DATA STRUCTS":[[0,null]],"Data Payload":[[0,"data-payload"]],"Finished Work":[[4,"finished-work"]],"Fusion of Software with Hardware":[[3,"fusion-of-software-with-hardware"]],"GitHub":[[6,"github"]],"HOW DOES IT WORK?":[[3,null]],"Main Function":[[5,"main-function"],[7,"main-function"]],"Motor Wires Harness":[[4,"motor-wires-harness"]],"OVERVIEW":[[2,null]],"RECEIVER":[[5,null]],"REFERENCES":[[6,null]],"Reading 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TRANSMITTER"],"titleterms":{"IN":4,"IT":3,"__attribut":0,"abstract":2,"axi":[3,7],"byterid":1,"chassi":4,"configur":[5,7],"control":3,"data":[0,5,7],"de":[],"direct":3,"document":[],"doe":3,"ecapsul":7,"encapsul":3,"extract":5,"finish":4,"function":[5,7],"fusion":3,"github":6,"gpio":3,"har":4,"hardwar":3,"highlight":1,"how":3,"i":[0,3],"introduct":[],"joystick":[3,7],"main":[5,7],"motor":4,"overview":2,"pack":0,"payload":0,"pin":3,"progress":4,"pwm":3,"read":[3,7],"receiv":5,"refer":6,"reserv":3,"schemat":3,"send":7,"softwar":3,"speed":3,"struct":0,"through":4,"transmitt":7,"us":0,"valu":7,"variabl":[5,7],"walk":4,"walkthrough":[],"what":[0,3],"why":0,"wire":4,"work":[3,4],"x":[3,7],"y":[3,7]}}) \ No newline at end of file diff --git a/ESP-IDF_Robot/tutorial/docs/source/overview.rst b/ESP-IDF_Robot/tutorial/docs/source/overview.rst index 37bbac550..6cc9c5976 100644 --- a/ESP-IDF_Robot/tutorial/docs/source/overview.rst +++ b/ESP-IDF_Robot/tutorial/docs/source/overview.rst @@ -215,6 +215,22 @@ On the transmitter`` device, the PWM values for the DC motors are send to the re ESP_LOGW("ESP-NOW", "Data was sent."); } +This function is invoked by a dedicated FreeRTOS task every 100 milliseconds, ensuring consistent and timely transmission of +control data to the receiver device. By leveraging FreeRTOS's precise task scheduling, the system maintains low-latency +communication and predictable behavior—critical for real-time control in embedded applications. + +.. code-block:: c + + // Continous, periodic task that sends data. + static void rc_send_data_task (void *arg) { + + while (true) { + if (esp_now_is_peer_exist(receiver_mac)) + sendData(); + vTaskDelay (100 / portTICK_PERIOD_MS); + } + } + As data is being sent, the function onDataSent() is called to check & display the status of the data transmission. .. code-block:: c @@ -243,17 +259,6 @@ On the receiver device, the data is saved in the variables by the call-back func The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver. -.. code-block:: c - - // Continous, periodic task that sends data. - static void rc_send_data_task (void *arg) { - - while (true) { - if (esp_now_is_peer_exist(receiver_mac)) - sendData(); - vTaskDelay (100 / portTICK_PERIOD_MS); - } - } Schematic ---------