mirror of
https://github.com/alexandrebobkov/ESP-Nodes.git
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RC Robot Tutorial
This commit is contained in:
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@@ -144,7 +144,9 @@ Similarly, when the joystick is pushed fully to the left or right, the X-axis vo
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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
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to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0% on the left, enabling precise directional control.
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The table below summarizes the reserved GPIOs.
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The table below summarizes the reserved GPIOs. These GPIOs are hard-wired to the corresponding components, and hard-coded in the
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corresponding functions. For example, the GPIOs 0 and 1 are hard-wired to the joystick x- and y- axis, respectively; and, hard-coded
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to read analog values and store them in the corresponding x- and y- variables.
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+------+-----+---------------------------------------------------------+----------------+
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| GPIO | Pin | Function | Notes |
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@@ -164,7 +166,10 @@ The table below summarizes the reserved GPIOs.
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| 7 | 6 | PWM for counter-clockwise rotation of left-side motors | LEDC_CHANNEL_3 |
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+------+-----+---------------------------------------------------------+----------------+
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The *struct* for storing motors PWM values.
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The struct used to store motor PWM values is shown below. While the bitByteRider RC car can be effectively controlled using
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just two PWM signals—one for each side—the structure is designed to hold four values, allowing room for future enhancements. This
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forward-thinking design supports potential upgrades such as improved maneuverability, individual wheel control, or advanced driving
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modes, making the system more adaptable and scalable for future development.
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.. code-block:: c
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@@ -175,7 +180,8 @@ The *struct* for storing motors PWM values.
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int motor4_rpm_pwm;
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};
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The function for updating motors' PWM values.
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On the transmitter`` device, the PWM values for the DC motors are send to the receover using the following function. The variable
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**receiver_mac** stores the MAC address of the receiver device (ESP32-C3 bitBoard on the RC car).
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.. code-block:: c
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@@ -209,26 +215,9 @@ The function for updating motors' PWM values.
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ESP_LOGW("ESP-NOW", "Data was sent.");
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}
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The onDataReceived() and onDataSent() are two call-back functions that get evoked on each corresponding event.
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.. code-block:: c
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// Call-back for the event when data is being received
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void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len) {
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buf = (sensors_data_t*)data; // Allocate memory for buffer to store data being received
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ESP_LOGW(TAG, "Data was received");
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ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis);
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ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis);
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ESP_LOGI(TAG, "PWM 1: 0x%04x", buf->motor1_rpm_pwm);
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}
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// Call-back for the event when data is being sent
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void onDataSent (uint8_t *mac_addr, esp_now_send_status_t status) {
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ESP_LOGW(TAG, "Packet send status: 0x%04X", status);
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}
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The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.
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This function is invoked by a dedicated FreeRTOS task every 100 milliseconds, ensuring consistent and timely transmission of
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control data to the receiver device. By leveraging FreeRTOS's precise task scheduling, the system maintains low-latency
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communication and predictable behavior—critical for real-time control in embedded applications.
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.. code-block:: c
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@@ -242,6 +231,35 @@ The rc_send_data_task() function runs every 0.1 second to transmit the data to t
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}
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}
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As data is being sent, the function onDataSent() is called to check & display the status of the data transmission.
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.. code-block:: c
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// Call-back for the event when data is being sent
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void onDataSent (uint8_t *mac_addr, esp_now_send_status_t status) {
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ESP_LOGW(TAG, "Packet send status: 0x%04X", status);
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}
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... ... ...
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... ... ...
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On the receiver device, the data is saved in the variables by the call-back function onDataReceived().
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.. code-block:: c
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// Call-back for the event when data is being received
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void onDataReceived (uint8_t *mac_addr, uint8_t *data, uint8_t data_len) {
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buf = (sensors_data_t*)data; // Allocate memory for buffer to store data being received
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ESP_LOGW(TAG, "Data was received");
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ESP_LOGI(TAG, "x-axis: 0x%04x", buf->x_axis);
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ESP_LOGI(TAG, "x-axis: 0x%04x", buf->y_axis);
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ESP_LOGI(TAG, "PWM 1: 0x%04x", buf->motor1_rpm_pwm);
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}
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The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.
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Schematic
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---------
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@@ -184,7 +184,9 @@ full speed.</p>
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<p>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
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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
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to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0% on the left, enabling precise directional control.</p>
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<p>The table below summarizes the reserved GPIOs.</p>
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<p>The table below summarizes the reserved GPIOs. These GPIOs are hard-wired to the corresponding components, and hard-coded in the
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corresponding functions. For example, the GPIOs 0 and 1 are hard-wired to the joystick x- and y- axis, respectively; and, hard-coded
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to read analog values and store them in the corresponding x- and y- variables.</p>
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<table class="docutils align-default">
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<thead>
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<tr class="row-odd"><th class="head"><p>GPIO</p></th>
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@@ -231,7 +233,10 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
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</tr>
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</tbody>
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</table>
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<p>The <em>struct</em> for storing motors PWM values.</p>
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<p>The struct used to store motor PWM values is shown below. While the bitByteRider RC car can be effectively controlled using
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just two PWM signals—one for each side—the structure is designed to hold four values, allowing room for future enhancements. This
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forward-thinking design supports potential upgrades such as improved maneuverability, individual wheel control, or advanced driving
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modes, making the system more adaptable and scalable for future development.</p>
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<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>
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<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor1_rpm_pwm</span><span class="p">;</span>
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<span class="w"> </span><span class="kt">int</span><span class="w"> </span><span class="n">motor2_rpm_pwm</span><span class="p">;</span>
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@@ -240,7 +245,8 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
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<span class="p">};</span>
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</pre></div>
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</div>
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<p>The function for updating motors’ PWM values.</p>
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<p>On the transmitter`` device, the PWM values for the DC motors are send to the receover using the following function. The variable
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<strong>receiver_mac</strong> stores the MAC address of the receiver device (ESP32-C3 bitBoard on the RC car).</p>
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<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="c1">// Function to send data to the receiver</span>
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<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>
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<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>
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@@ -272,24 +278,9 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
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<span class="p">}</span>
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</pre></div>
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</div>
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<p>The onDataReceived() and onDataSent() are two call-back functions that get evoked on each corresponding event.</p>
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<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="c1">// Call-back for the event when data is being received</span>
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<span class="kt">void</span><span class="w"> </span><span class="nf">onDataReceived</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">data_len</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
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<span class="w"> </span><span class="n">buf</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="n">sensors_data_t</span><span class="o">*</span><span class="p">)</span><span class="n">data</span><span class="p">;</span><span class="w"> </span><span class="c1">// Allocate memory for buffer to store data being received</span>
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<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Data was received"</span><span class="p">);</span>
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<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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">x_axis</span><span class="p">);</span>
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<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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">y_axis</span><span class="p">);</span>
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<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: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">motor1_rpm_pwm</span><span class="p">);</span>
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<span class="p">}</span>
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<span class="c1">// Call-back for the event when data is being sent</span>
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<span class="kt">void</span><span class="w"> </span><span class="nf">onDataSent</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="n">esp_now_send_status_t</span><span class="w"> </span><span class="n">status</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
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<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Packet send status: 0x%04X"</span><span class="p">,</span><span class="w"> </span><span class="n">status</span><span class="p">);</span>
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<span class="p">}</span>
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</pre></div>
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</div>
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<p>The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.</p>
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<p>This function is invoked by a dedicated FreeRTOS task every 100 milliseconds, ensuring consistent and timely transmission of
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control data to the receiver device. By leveraging FreeRTOS’s precise task scheduling, the system maintains low-latency
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communication and predictable behavior—critical for real-time control in embedded applications.</p>
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<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="c1">// Continous, periodic task that sends data.</span>
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<span class="k">static</span><span class="w"> </span><span class="kt">void</span><span class="w"> </span><span class="nf">rc_send_data_task</span><span class="w"> </span><span class="p">(</span><span class="kt">void</span><span class="w"> </span><span class="o">*</span><span class="n">arg</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
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@@ -301,6 +292,29 @@ to pivot. The opposite occurs for a right turn, with 100% PWM on the right and 0
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<span class="p">}</span>
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</pre></div>
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</div>
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<p>As data is being sent, the function onDataSent() is called to check & display the status of the data transmission.</p>
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<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="c1">// Call-back for the event when data is being sent</span>
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<span class="kt">void</span><span class="w"> </span><span class="nf">onDataSent</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="n">esp_now_send_status_t</span><span class="w"> </span><span class="n">status</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
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<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Packet send status: 0x%04X"</span><span class="p">,</span><span class="w"> </span><span class="n">status</span><span class="p">);</span>
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<span class="p">}</span>
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<span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
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<span class="p">...</span><span class="w"> </span><span class="p">...</span><span class="w"> </span><span class="p">...</span>
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</pre></div>
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</div>
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<p>On the receiver device, the data is saved in the variables by the call-back function onDataReceived().</p>
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<div class="highlight-c notranslate"><div class="highlight"><pre><span></span><span class="c1">// Call-back for the event when data is being received</span>
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<span class="kt">void</span><span class="w"> </span><span class="nf">onDataReceived</span><span class="w"> </span><span class="p">(</span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">mac_addr</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="o">*</span><span class="n">data</span><span class="p">,</span><span class="w"> </span><span class="kt">uint8_t</span><span class="w"> </span><span class="n">data_len</span><span class="p">)</span><span class="w"> </span><span class="p">{</span>
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<span class="w"> </span><span class="n">buf</span><span class="w"> </span><span class="o">=</span><span class="w"> </span><span class="p">(</span><span class="n">sensors_data_t</span><span class="o">*</span><span class="p">)</span><span class="n">data</span><span class="p">;</span><span class="w"> </span><span class="c1">// Allocate memory for buffer to store data being received</span>
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<span class="w"> </span><span class="n">ESP_LOGW</span><span class="p">(</span><span class="n">TAG</span><span class="p">,</span><span class="w"> </span><span class="s">"Data was received"</span><span class="p">);</span>
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<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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">x_axis</span><span class="p">);</span>
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<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">"x-axis: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">y_axis</span><span class="p">);</span>
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<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: 0x%04x"</span><span class="p">,</span><span class="w"> </span><span class="n">buf</span><span class="o">-></span><span class="n">motor1_rpm_pwm</span><span class="p">);</span>
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<span class="p">}</span>
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</pre></div>
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</div>
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<p>The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.</p>
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</section>
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<section id="schematic">
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<h2><span class="section-number">2.3. </span>Schematic<a class="headerlink" href="#schematic" title="Link to this heading">¶</a></h2>
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File diff suppressed because one or more lines are too long
@@ -215,6 +215,22 @@ On the transmitter`` device, the PWM values for the DC motors are send to the re
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ESP_LOGW("ESP-NOW", "Data was sent.");
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}
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This function is invoked by a dedicated FreeRTOS task every 100 milliseconds, ensuring consistent and timely transmission of
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control data to the receiver device. By leveraging FreeRTOS's precise task scheduling, the system maintains low-latency
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communication and predictable behavior—critical for real-time control in embedded applications.
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.. code-block:: c
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// Continous, periodic task that sends data.
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static void rc_send_data_task (void *arg) {
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while (true) {
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if (esp_now_is_peer_exist(receiver_mac))
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sendData();
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vTaskDelay (100 / portTICK_PERIOD_MS);
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}
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}
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As data is being sent, the function onDataSent() is called to check & display the status of the data transmission.
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.. code-block:: c
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@@ -243,17 +259,6 @@ On the receiver device, the data is saved in the variables by the call-back func
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The rc_send_data_task() function runs every 0.1 second to transmit the data to the receiver.
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.. code-block:: c
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// Continous, periodic task that sends data.
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static void rc_send_data_task (void *arg) {
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while (true) {
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if (esp_now_is_peer_exist(receiver_mac))
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sendData();
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vTaskDelay (100 / portTICK_PERIOD_MS);
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}
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}
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Schematic
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---------
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Reference in New Issue
Block a user