From 92f3c4ed7bb8d46c32b204805cfa7c4037ccec89 Mon Sep 17 00:00:00 2001
From: Zhaoliang <zhz03@g.ucla.edu>
Date: Tue, 19 Oct 2021 00:40:51 -0700
Subject: [PATCH] upgrade the distance and send it all together
---
.../Two-way/ESP32_master/ESP32_master.ino | 13 +++++++---
.../Two-way/ESP32_slave/ESP32_slave.ino | 26 +++++++++++++------
2 files changed, 27 insertions(+), 12 deletions(-)
diff --git a/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino b/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino
index 60b2714..903cfe3 100644
--- a/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino
+++ b/Code/ESP32_communication/Two-way/ESP32_master/ESP32_master.ino
@@ -3,7 +3,8 @@
#include <Wire.h>
// REPLACE WITH THE MAC Address of your receiver (SLAVE)
-uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C};
+// uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
+uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
String success;
// Define variables to store BME280 readings to be sent
@@ -11,6 +12,7 @@ String strdata = "";
String valdata = "";
String quedata = "";
int count = 0;
+int count_digit = 0;
// Define variables to store incoming readings
String incomingStr = "";
@@ -100,9 +102,11 @@ void loop()
sentData.StrD = strdata;
Serial.println(sentData.StrD);
}
- if (isDigit(inChar) || inChar == '.' || inChar == '-'){
+ if ((isDigit(inChar) || inChar == '.' || inChar == '-') && (count_digit <= 9)){
valdata += char(inChar);
+ count_digit += 1;
}
+
if (inChar == '?'){
quedata += char(inChar);
sentData.QueM = quedata;
@@ -119,8 +123,8 @@ void loop()
sentData.QueM = "";
}else{
// sentData.ValD = 0;
- Serial.print("ValD");
- Serial.println(sentData.ValD);
+ Serial.print("ValD");
+ Serial.println(sentData.ValD);
Serial.print("QueM:");
Serial.println(sentData.QueM);
}
@@ -135,6 +139,7 @@ void loop()
strdata = "";
quedata = "";
count = 0;
+ count_digit = 0;
}
}
diff --git a/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino b/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino
index 96cb183..fcd4d3f 100644
--- a/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino
+++ b/Code/ESP32_communication/Two-way/ESP32_slave/ESP32_slave.ino
@@ -4,7 +4,8 @@
// REPLACE WITH THE MAC Address of your receiver (MASTER)
// Slave: 40:F5:20:44:B6:4C
-uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xCF, 0x00};
+// uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xCF, 0x00};
+uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
String success;
// Define variables to store BME280 readings to be sent
@@ -27,9 +28,8 @@ int8_t threshold[6] = {Lmin, Lmax, Amin, Amax, Bmin, Bmax};
int base_speed = 70;
int seeking_speed = 70;
int lidar_thres = 300; // mm
-
-int gbx = 0, gby = 0;
-
+int gbx = 0, gby = 0,gbd = 0;
+double gbc = 0;
// =====================================================================================
//Structure the sending data
@@ -262,8 +262,13 @@ void ChangeVariables(){
lidar_thres = getDoubleVal(strData,"lth",valData,lidar_thres);
//------ green ball x, y----
- gbx = getDoubleVal(strData,"gbx",valData,gbx);
- gby = getDoubleVal(strData,"gby",valData,gby);
+ gbc = getDoubleVal(strData,"gbc",valData,gbc);
+ gbx = gbc /1000000;
+ gby = fmod(gbc,1000000)/1000;//(gbc.toInt() % 1000000)/1000;
+ gbd = fmod(gbc,1000); // gbc.toInt() % 1000;
+
+ // gbx = getDoubleVal(strData,"gbx",valData,gbx);
+ // gby = getDoubleVal(strData,"gby",valData,gby);
}
@@ -338,12 +343,17 @@ void print_allvariables(){
Serial.print("Kpy:");
Serial.println(Kpy);
Serial.print("|");
-
+
+ Serial.print("gbc:");
+ Serial.print(gbc);
+ Serial.print("|");
Serial.print("gbx:");
Serial.print(gbx);
Serial.print("|");
Serial.print("gby:");
- Serial.println(gby);
+ Serial.print(gby);
+ Serial.print("gbd:");
+ Serial.println(gbd);
Serial.println("---------------------------\n");
print_count +=1 ;
--
GitLab