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

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This commit is contained in:
Ghassan Yusuf 2025-10-08 07:42:28 +03:00
parent e2ed6c677a
commit e411c4465a
1 changed files with 50 additions and 8 deletions
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58
projects/espnow/rc car/receiver/receiver.ino
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@ -1,10 +1,18 @@
#include <WiFi.h> #include <WiFi.h>
#include <esp_now.h> #include <esp_now.h>
#include <esp_wifi.h>
#include <ESP32Servo.h> #include <ESP32Servo.h>
//------------------------------------------------
// This is The Car Unit
//------------------------------------------------
// RC Car Remote MAC Address: 64:E8:33:B5:D8:40
// RC Car MAC Address: 50:78:7D:43:14:00
//------------------------------------------------
Servo leftServoA, leftServoB, rightServoA, rightServoB; Servo leftServoA, leftServoB, rightServoA, rightServoB;
int leftPins[2] = {12, 13}; int leftPins[2] = {0, 1};
int rightPins[2] = {14, 15}; int rightPins[2] = {2, 3};
typedef struct { typedef struct {
int speed; int speed;
@ -20,9 +28,12 @@ typedef struct {
CommandPacket command; CommandPacket command;
TelemetryPacket telemetry; TelemetryPacket telemetry;
uint8_t remoteAddr[] = {0x24, 0x6F, 0x28, 0x33, 0xDE, 0xB4}; // MAC of remote unsigned long lastTelemetrySent = 0;
void onCommandRecv(const uint8_t * mac, const uint8_t *incomingData, int len) { // RC Car Remote MAC Address: 64:E8:33:B5:D8:40
uint8_t remoteAddr[] = {0x64, 0xE8, 0x33, 0xB5, 0xD8, 0x40}; // MAC of remote
void onCommandRecv(const esp_now_recv_info_t *recv_info, const uint8_t *incomingData, int len) {
memcpy(&command, incomingData, sizeof(command)); memcpy(&command, incomingData, sizeof(command));
int left = constrain(command.speed + command.turn, -255, 255); int left = constrain(command.speed + command.turn, -255, 255);
@ -40,27 +51,58 @@ void onCommandRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
telemetry.rightSpeed = right; telemetry.rightSpeed = right;
} }
// Function to ensure peer is always registered
void ensurePeerConnected() {
if (!esp_now_is_peer_exist(remoteAddr)) {
esp_now_peer_info_t peerInfo = {};
memcpy(peerInfo.peer_addr, remoteAddr, 6);
peerInfo.channel = 0;
peerInfo.encrypt = false;
esp_err_t res = esp_now_add_peer(&peerInfo);
if (res == ESP_OK) {
Serial.println("Re-added remote peer");
} else {
Serial.printf("Failed to add peer: %d\n", res);
}
}
}
void setup() { void setup() {
Serial.begin(115200); Serial.begin(115200);
leftServoA.attach(leftPins[0]); leftServoA.attach(leftPins[0]);
leftServoB.attach(leftPins[1]); leftServoB.attach(leftPins[1]);
rightServoA.attach(rightPins[0]); rightServoA.attach(rightPins[0]);
rightServoB.attach(rightPins[1]); rightServoB.attach(rightPins[1]);
WiFi.mode(WIFI_STA); WiFi.mode(WIFI_STA);
PrintMacAddress();
esp_now_init(); esp_now_init();
esp_now_peer_info_t peerInfo; esp_now_peer_info_t peerInfo = {};
memcpy(peerInfo.peer_addr, remoteAddr, 6); memcpy(peerInfo.peer_addr, remoteAddr, 6);
peerInfo.channel = 0; peerInfo.channel = 0;
peerInfo.encrypt = false; peerInfo.encrypt = false;
esp_now_add_peer(&peerInfo); esp_now_add_peer(&peerInfo);
esp_now_register_recv_cb(onCommandRecv); esp_now_register_recv_cb(onCommandRecv);
} }
unsigned long lastTelemetrySent = 0;
void loop() { void loop() {
ensurePeerConnected();
if (millis() - lastTelemetrySent > 500) { if (millis() - lastTelemetrySent > 500) {
telemetry.battery = analogRead(36); // Replace with proper battery voltage calculation telemetry.battery = analogRead(36); // Adjust this as needed
esp_now_send(remoteAddr, (uint8_t*)&telemetry, sizeof(telemetry)); esp_now_send(remoteAddr, (uint8_t*)&telemetry, sizeof(telemetry));
lastTelemetrySent = millis(); lastTelemetrySent = millis();
} }
}
}
void PrintMacAddress() {
delay(100); // Let hardware settle
uint8_t mac[6];
esp_wifi_get_mac(WIFI_IF_STA, mac); // Get MAC address for STA
Serial.print("Car MAC Address: ");
Serial.printf("%02X:%02X:%02X:%02X:%02X:%02X\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
}