Add projects/espnow/rc car/receiver/receiver.ino

projects/espnow/rc car/receiver/receiver.ino

@@ -0,0 +1,67 @@
+#include <WiFi.h>
+#include <esp_now.h>
+#include <ESP32Servo.h>
+
+Servo leftServo1, leftServo2, rightServo1, rightServo2;
+int leftServoPin1 = 12, leftServoPin2 = 13, rightServoPin1 = 14, rightServoPin2 = 15;
+
+typedef struct {
+  int speed;
+  int turn;
+} CommandPacket;
+
+typedef struct {
+  int leftServoSpeed;
+  int rightServoSpeed;
+  int batteryLevel;
+} TelemetryPacket;
+
+CommandPacket command;
+uint8_t controllerAddr[] = {0x24, 0x6F, 0x28, 0x33, 0xDE, 0xB4}; // Remote MAC
+
+void onCommandRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
+  memcpy(&command, incomingData, sizeof(command));
+  int leftSpeed  = constrain(command.speed + command.turn, -255, 255);
+  int rightSpeed = constrain(command.speed - command.turn, -255, 255);
+
+  // Map speed value to servo position (0-180 for continuous rotation speed control)
+  int leftPWM  = map(leftSpeed, -255, 255, 0, 180);
+  int rightPWM = map(rightSpeed, -255, 255, 0, 180);
+
+  leftServo1.write(leftPWM);
+  leftServo2.write(leftPWM);
+  rightServo1.write(rightPWM);
+  rightServo2.write(rightPWM);
+
+  // Store for telemetry
+  telemetry.leftServoSpeed = leftSpeed;
+  telemetry.rightServoSpeed = rightSpeed;
+}
+
+TelemetryPacket telemetry;
+
+void setup() {
+  Serial.begin(115200);
+  leftServo1.attach(leftServoPin1);
+  leftServo2.attach(leftServoPin2);
+  rightServo1.attach(rightServoPin1);
+  rightServo2.attach(rightServoPin2);
+  WiFi.mode(WIFI_STA);
+  esp_now_init();
+  esp_now_peer_info_t peerInfo;
+  memcpy(peerInfo.peer_addr, controllerAddr, 6);
+  peerInfo.channel = 0;
+  peerInfo.encrypt = false;
+  esp_now_add_peer(&peerInfo);
+  esp_now_register_recv_cb(onCommandRecv);
+}
+
+unsigned long lastTelemetrySent = 0;
+void loop() {
+  // Telemetry every 500 ms
+  if (millis() - lastTelemetrySent > 500) {
+    telemetry.batteryLevel = analogRead(36); // Replace with battery calculation if needed
+    esp_now_send(controllerAddr, (uint8_t*)&telemetry, sizeof(telemetry));
+    lastTelemetrySent = millis();
+  }
+}