diff --git a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino b/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
deleted file mode 100644
index 63ee80881f2415244e465f067349e601bc144361..0000000000000000000000000000000000000000
--- a/Code/Control/Laptop_Code/ESP32_slave/ESP32_slave.ino
+++ /dev/null
@@ -1,327 +0,0 @@
-#include <esp_now.h>
-#include <WiFi.h>
-#include <Wire.h>
-#include <SparkFun_VL53L1X.h>
-#include <Arduino.h>
-
-#include "Camera.h"
-#include "utilities.h"
-#include <Adafruit_MotorShield.h>
-
-// MAC Address of the receiver (MASTER)
-//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x91, 0x74}; // #1
-//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xBD, 0xF8}; // #2
-//uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98}; // #3
-//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xB6, 0x4C}; // #4
-//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xC0, 0xD8}; // #5
-//uint8_t broadcastAddress[] = {0x40, 0xF5, 0x20, 0x44, 0xDE, 0xE0}; // #6
-//uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x4A, 0xD3, 0x3C}; // #7
-uint8_t broadcastAddress[] = {0x3C, 0x61, 0x05, 0x9B, 0x04, 0x98}; // #8
-
-String success;
-// Define variables to store incoming readings
-String sentDebugM = "";
-int Rec_pwm1;
-int Rec_pwm2;
-int Rec_pwm3;
-int Rec_pwm4;
-String Rec_dir1;
-String Rec_dir2;
-String Rec_dir3;
-String Rec_dir4;
-
-int count = 0;
-int count_var = 0;
-int print_count = 0;
-int change_count =0;
-int Lidar_flag = 0;
-
-// Define variables to be sent;
-int Sent_tx = 0;
-int Sent_ty = 0;
-int Sent_tz = 0;
-int Sent_rx = 0;
-int Sent_ry = 0;
-int Sent_rz = 0;
-int Sent_dist = 0;
-const int omv_def = 100000;
-int8_t g1 = 0,g2=1,g3=2;
-int8_t goal_id[3] = {g1, g2, g3};
-
-// Define Lidar variables
-SFEVL53L1X distanceSensor;
-int budgetIndex = 4;
-int budgetValue[7] = {15, 20, 33, 50, 100, 200, 500};
-
-// Define LED variable
-int LED = LED_BUILTIN;
-
-// ==================================== data structure =================================================
-//Structure the sending data
-//Must match the receiver structure
-typedef struct struct_message {
- int Rtx;
- int Rty;
- int Rtz;
- int Rrx;
- int Rry;
- int Rrz;
- int Rdist;
- String DebugM;
- int Spwm1;
- int Spwm2;
- int Spwm3;
- int Spwm4;
- String Sdir1;
- String Sdir2;
- String Sdir3;
- String Sdir4;
-} struct_message;
-// Create a struct_message to hold incoming sensor readings
-// struct_message incomingReadings;
-struct_message receivedData;
-
-// =================================== send and received function =====================================
-// Callback when data is sent
-void OnDataSent(const uint8_t *mac_addr, esp_now_send_status_t status) {
- Serial.print("\r\nLast Packet Send Status:\t");
- Serial.println(status == ESP_NOW_SEND_SUCCESS ? "Delivery Success" : "Delivery Fail");
- if (status ==0){
- success = "Delivery Success :)";
- }
- else{
- success = "Delivery Fail :(";
- }
-}
-
-// Callback when data is received
-void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
- memcpy(&receivedData, incomingData, sizeof(receivedData));
- Serial.println("OnDataRecv");
- // the data format: 225 225 225 225 + + - -
- // + up / forward
- // - down / backward
- Rec_pwm1 = receivedData.Spwm1;
- Rec_pwm2 = receivedData.Spwm2;
- Rec_pwm3 = receivedData.Spwm3;
- Rec_pwm4 = receivedData.Spwm4;
- Rec_dir1 = receivedData.Sdir1;
- Rec_dir2 = receivedData.Sdir2;
- Rec_dir3 = receivedData.Sdir3;
- Rec_dir4 = receivedData.Sdir4;
- count_var = 0;
- count = 0;
- print_count=0;
- change_count = 0;
- control_motion();
-}
-
-// =============================== All the setup ===========================================
-//Create the interface that will be used by the camera
-openmv::rpc_scratch_buffer<256> scratch_buffer; // All RPC objects share this buffer.
-openmv::rpc_i2c_master interface(0x12, 100000); //to make this more robust, consider making address and rate as constructor argument
-Camera cam(&interface);
-// ========================== Motor part ====================================
-// Create the motor shield object with the default I2C address
-Adafruit_MotorShield AFMS = Adafruit_MotorShield();
-// changed
-Adafruit_DCMotor *motorVertical_L = AFMS.getMotor(1); // pwm1
-Adafruit_DCMotor *motorVertical_R = AFMS.getMotor(2); // pwm2
-Adafruit_DCMotor *motorLeft = AFMS.getMotor(3); // pwm3
-Adafruit_DCMotor *motorRight = AFMS.getMotor(4); // pwm4
-// ==================================== Set up =================================================
-void setup() {
- // Init Serial Monitor
- Serial.begin(115200);
- Wire.begin();
- interface.begin(); //communication between ESP and OpenMV
- AFMS.begin(); // create with the default frequency 1.6KHz
- // -------------- LED part --------------------
- pinMode(LED, OUTPUT);
- digitalWrite(LED, HIGH);
- digitalWrite(LED, LOW);
- Serial.println("Preliminary Setup done");
- // -------------- lidar part --------------------
- if (distanceSensor.begin() == 0){
- Serial.println("Sensor online!");
- Lidar_flag = 1;
- }else {
- Lidar_flag = 0;
- }
-
- distanceSensor.startRanging();
- distanceSensor.setIntermeasurementPeriod(budgetValue[budgetIndex]);
-
- // --------------------------- esp now ---------------------------
- // Set device as a Wi-Fi Station
- WiFi.mode(WIFI_STA);
-
- // Init ESP-NOW
- if (esp_now_init() != ESP_OK) {
- Serial.println("Error initializing ESP-NOW");
- return;
- }
-
- // Once ESPNow is successfully Init, we will register for Send CB to
- // get the status of Trasnmitted packet
- esp_now_register_send_cb(OnDataSent);
-
- // Register peer
- esp_now_peer_info_t peerInfo;
- memcpy(peerInfo.peer_addr, broadcastAddress, 6);
- peerInfo.channel = 0;
- peerInfo.encrypt = false;
-
- // Add peer
- if (esp_now_add_peer(&peerInfo) != ESP_OK){
- Serial.println("Failed to add peer");
- return;
- }
- // Register for a callback function that will be called when data is received
- esp_now_register_recv_cb(OnDataRecv);
-
-}
-
-// ================================== Main loop ===================================================
-void loop()
-{
- //-------------------------------------------------------------------------------------
- // ========== goal finder =========
- int id = -1;
- int tx = 0; int ty = 0; int tz = 0;
- int rx = 0; int ry = 0; int rz = 0;
- int x = 0;
- int y = 0;
- bool goalfind_flag = 0;
-
- goalfind_flag = cam.exe_goalfinder(goal_id[0],goal_id[1],goal_id[2], id, tx, ty, tz, rx, ry, rz);
- if (goalfind_flag){
- Sent_tx = tx;
- Sent_ty = ty;
- Sent_tz = tz; // cm
- Sent_rx = rx;
- Sent_ry = ry;
- Sent_rz = rz;
- }else{
- Sent_tx = omv_def;
- Sent_ty = omv_def;
- Sent_tz = omv_def; // cm
- Sent_rx = 0;
- Sent_ry = 0;
- Sent_rz = 0;
- }
- if (Lidar_flag == 1){
- Sent_dist = distanceSensor.getDistance(); // Lidar distance (use the real Lidar data)
- }else {
- Sent_dist = 0;
- }
- // ========== lidar state info =========
- if (Sent_dist < 300 && Sent_dist > 0){
- receivedData.DebugM = "found b";
- }else{
- receivedData.DebugM = "no b";
- }
- // ========== send info =========
- receivedData.Rtx = Sent_tx;
- receivedData.Rty = Sent_ty;
- receivedData.Rtz = Sent_tz;
- receivedData.Rrx = Sent_rx;
- receivedData.Rry = Sent_ry;
- receivedData.Rrz = Sent_rz;
- receivedData.Rdist = Sent_dist;
- send_var_once();
- print_received_Data();
-
- //-------------------------------------------------------------------------------------
- // control_motion();
- //-------------------------------------------------------------------------------------
-}
-// ================================== ^ Main loop ^ ===================================================
-void control_motion(){
- // vertical motor
- Serial.println("control_motion");
- Serial.println(abs(Rec_pwm1));
- motorVertical_L->setSpeed(abs(Rec_pwm1));
- motorVertical_R->setSpeed(abs(Rec_pwm2));
-
- if (Rec_dir1 == "+"){
- motorVertical_L->run(BACKWARD); // up
- }else if (Rec_dir1 == "-"){
- motorVertical_L->run(FORWARD); // down
- }
-
- if (Rec_dir2 == "+"){
- motorVertical_R->run(FORWARD);
- }else if (Rec_dir2 == "-"){
- motorVertical_R->run(BACKWARD);
- }
-
- // horizontal motor
- motorLeft->setSpeed(abs(Rec_pwm3));
- motorRight->setSpeed(abs(Rec_pwm4));
-
- if (Rec_dir3 == "+"){
- motorLeft->run(BACKWARD); // make it move forward
- }else if (Rec_dir3 == "-"){
- motorLeft->run(FORWARD); // make it move backward
- }
-
- if (Rec_dir4 == "+"){
- motorRight-> run(FORWARD); // make it move forward
- }else if (Rec_dir4 == "-"){
- motorRight-> run(BACKWARD); // make it move backward
- }
-
-}
-
-void print_received_Data(){
- if (print_count == 0){
- Serial.print("Rec_pwm1:");
- Serial.println(Rec_pwm1);
- Serial.print("Rec_pwm2:");
- Serial.println(Rec_pwm2);
- Serial.print("Rec_pwm3:");
- Serial.println(Rec_pwm3);
- Serial.print("Rec_pwm4:");
- Serial.println(Rec_pwm4);
- Serial.print("Rec_dir1:");
- Serial.println(Rec_dir1);
- Serial.print("Rec_dir2:");
- Serial.println(Rec_dir2);
- Serial.print("Rec_dir3:");
- Serial.println(Rec_dir3);
- Serial.print("Rec_dir4:");
- Serial.println(Rec_dir4);
- Serial.println("_________________________");
- }
- print_count +=1;
-}
-
-void send_var_once(){
- if(count_var==0){
- send_message();
- count_var+=1;
- }
-}
-
-void send_message_once(){
- if(count==0){
- send_message();
- count+=1;
- receivedData.DebugM = "";
- }
-}
-
-void send_message(){
- esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &receivedData, sizeof(receivedData));
- // esp_now_send(RxMACaddress, (uint8_t *) &sentData, sizeof(sentData));
- //-------------------------------------------------------------------------------------
- if (result == ESP_OK) {
- Serial.println("Sent with success");
- }
- else {
- Serial.println("Error sending the data");
- }
- //-------------------------------------------------------------------------------------
- delay(50); // delay 50 ms after send out the message
-}