Add codeWithOled

codeWithOled

@@ -0,0 +1,98 @@
+#include <Wire.h>
+#include <Adafruit_GFX.h>
+#include <Adafruit_SSD1306.h>
+
+// OLED display parameters
+#define SCREEN_WIDTH 128
+#define SCREEN_HEIGHT 64
+#define OLED_RESET    -1
+Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
+
+// Define the pin numbers and PWM channels for the two motors
+#define MOTOR1_PWM_PIN 16
+#define MOTOR2_PWM_PIN 17
+#define PWM_CHANNEL_1 0
+#define PWM_CHANNEL_2 1
+#define PWM_FREQ 1000
+#define PWM_RESOLUTION 8 // 8 bits: 0-255
+
+#define ENVELOPE 0xAA
+#define TIMEOUT 200 // milliseconds
+
+unsigned long lastReceiveTime = 0;
+uint8_t prevMotor1 = 0, prevMotor2 = 0;
+
+void setup() {
+  Serial.begin(115200);
+
+  ledcSetup(PWM_CHANNEL_1, PWM_FREQ, PWM_RESOLUTION);
+  ledcSetup(PWM_CHANNEL_2, PWM_FREQ, PWM_RESOLUTION);
+  ledcAttachPin(MOTOR1_PWM_PIN, PWM_CHANNEL_1);
+  ledcAttachPin(MOTOR2_PWM_PIN, PWM_CHANNEL_2);
+
+  // OLED initialization
+  if(!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) {
+    Serial.println(F("SSD1306 allocation failed"));
+    for(;;);
+  }
+  display.clearDisplay();
+  display.setTextColor(SSD1306_WHITE);
+  display.setTextSize(1);
+  display.setCursor(0, 0);
+  display.println("Init...");
+  display.display();
+}
+
+void updateOLED(uint8_t m1, uint8_t m2) {
+  display.clearDisplay();
+  display.setTextSize(2);
+  display.setCursor(0, 0);
+  display.print("M1: ");
+  display.println(m1);
+  display.setCursor(0, 30);
+  display.print("M2: ");
+  display.println(m2);
+  display.display();
+}
+
+void loop() {
+  static enum { WAIT_HEADER, WAIT_M1, WAIT_M2 } state = WAIT_HEADER;
+  static uint8_t m1_val, m2_val;
+
+  while (Serial.available()) {
+    uint8_t b = Serial.read();
+    if (state == WAIT_HEADER) {
+      if (b == ENVELOPE) state = WAIT_M1;
+    } else if (state == WAIT_M1) {
+      m1_val = b;
+      state = WAIT_M2;
+    } else if (state == WAIT_M2) {
+      m2_val = b;
+      // Only update if changed
+      if (m1_val != prevMotor1) {
+        ledcWrite(PWM_CHANNEL_1, m1_val);
+        prevMotor1 = m1_val;
+      }
+      if (m2_val != prevMotor2) {
+        ledcWrite(PWM_CHANNEL_2, m2_val);
+        prevMotor2 = m2_val;
+      }
+      updateOLED(prevMotor1, prevMotor2);
+      lastReceiveTime = millis();
+      state = WAIT_HEADER;
+    }
+  }
+
+  // Safety: Stop both motors if no update in TIMEOUT ms
+  if (millis() - lastReceiveTime > TIMEOUT) {
+    if (prevMotor1 != 0) {
+      ledcWrite(PWM_CHANNEL_1, 0);
+      prevMotor1 = 0;
+    }
+    if (prevMotor2 != 0) {
+      ledcWrite(PWM_CHANNEL_2, 0);
+      prevMotor2 = 0;
+    }
+    updateOLED(0, 0);
+  }
+}