change teh code to receive PID values from the master

Code/ESP32_communication/simple_test/ESP32_slave/ESP32_slave.ino

@@ -6,23 +6,31 @@
 #include <Wire.h>
 
 //-------------------------------------------------------------------------------------
-
+String strData = "";
+double valData = 0.0;
+double Kpx=2, Kix=0.1, Kdx=0.25;
+double Kpy=1, Kiy=0.1, Kdy=0.25;
 //-------------------------------------------------------------------------------------
 typedef struct RxStruct
 {
-  int potVal;
+  String StrD;
+  double ValD;
 }RxStruct;
 RxStruct receivedData;
 //-------------------------------------------------------------------------------------
 void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len)
 {
   memcpy(&receivedData, incomingData, sizeof(receivedData));
-  Serial.println(receivedData.potVal);
+  Serial.print("data:");
+  Serial.println(receivedData.StrD);
+  Serial.println(receivedData.ValD);
+  strData = receivedData.StrD;
+  valData = receivedData.ValD;
 }
 //======================================================================================
 void setup()
 {
-  Serial.begin(11520);
+  Serial.begin(9600);
   
   WiFi.mode(WIFI_STA);
   if (esp_now_init() != ESP_OK)
@@ -34,6 +42,35 @@ void setup()
 }
 //======================================================================================
 void loop()
-{
+{ 
+  Kpx = getVal(strData,"kpx",valData,Kpx);
+  Kix = getVal(strData,"kix",valData,Kix);
+  Kdx = getVal(strData,"kdx",valData,Kdx);
+  Kpy = getVal(strData,"kpy",valData,Kpy);
+  Kiy = getVal(strData,"kiy",valData,Kiy);
+  Kdy = getVal(strData,"kdy",valData,Kdy);
+  
+    Serial.print("Kpx:");
+    Serial.println(Kpx);
+    Serial.print("Kix:");
+    Serial.println(Kix);
+    Serial.print("Kdx:");
+    Serial.println(Kdx);
+    Serial.print("Kdy:");
+    Serial.println(Kdy);
+    Serial.print("Kiy:");
+    Serial.println(Kiy);
+    Serial.print("Kdy:");
+    Serial.println(Kdy);
 
 }
+
+double getVal(String checkData,String Ans,double val,double ori_val){
+  if (checkData == Ans){
+    strData = "";
+    valData = 0.0;
+    return val;
+  }else {
+    return ori_val;
+  }
+}