From 1d7d908b7b65fd8819e82346ca7f6e93c07a8c5f Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Fri, 15 Oct 2021 01:35:27 -0700
Subject: [PATCH] change teh code to receive PID values from the master
---
.../simple_test/ESP32_slave/ESP32_slave.ino | 47 +++++++++++++++++--
1 file changed, 42 insertions(+), 5 deletions(-)
diff --git a/Code/ESP32_communication/simple_test/ESP32_slave/ESP32_slave.ino b/Code/ESP32_communication/simple_test/ESP32_slave/ESP32_slave.ino
index 9680137..ef40220 100644
--- a/Code/ESP32_communication/simple_test/ESP32_slave/ESP32_slave.ino
+++ b/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;
+ }
+}
--
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