add print info once function

Code/ESP32_communication/Two-way/Previous_version/ESP32_slave/ESP32_slave.ino

@@ -8,7 +8,8 @@ uint8_t broadcastAddress[] = {0xC4, 0xDD, 0x57, 0x9E, 0x8A, 0x98};
 String success;
 // Define variables to store BME280 readings to be sent
 String sentDebugM = "";
-
+int count=0;
+int print_count = 0;
 // Define variables to store incoming readings
 String strData = "";
 double valData = 0.0;
@@ -55,12 +56,14 @@ void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {
   Serial.println(receivedData.ValD);
   strData = receivedData.StrD;
   valData = receivedData.ValD;
+  count = 0;
+  print_count=0;
 }
 // =====================================================================================
 
 void setup() {
   // Init Serial Monitor
-  Serial.begin(115200);
+  Serial.begin(9600);
  
   // Set device as a Wi-Fi Station
   WiFi.mode(WIFI_STA);
@@ -94,20 +97,29 @@ void setup() {
 void loop()
 { 
  ChangeVariables();
+ 
  if(lidar_thres < 300 && seeking_speed < 50){
-  receivedData.DebugM = "catch ball and seeking for goal";
-  send_message();
+  receivedData.DebugM = "ca b se g";
+  
+  send_message_once();
  }else if(lidar_thres < 300 && seeking_speed > 50){
   receivedData.DebugM = "catch ball";
-  send_message();
+  
+  send_message_once();
  }else if (lidar_thres > 300 && seeking_speed < 50){
   receivedData.DebugM = "seeking";
-  send_message();
+  send_message_once();
  }
- 
+    
+    print_allvariables();
+  
   //-------------------------------------------------------------------------------------
 }
-
+void send_message_once(){
+    if(count==0){
+  send_message(); count+=1;
+  }
+}
 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));
@@ -147,9 +159,9 @@ void ChangeVariables(){
   threshold[4] = Bmin;
   threshold[5] = Bmax;  
   //-------base_speed,seeking_speed,lidar_thres-----------------
-  base_speed = abs(getIntVal(strData,"bsp",valData,base_speed));
-  seeking_speed = abs(getIntVal(strData,"ssp",valData,seeking_speed));
-  lidar_thres = abs(getIntVal(strData,"lth",valData,lidar_thres));
+  base_speed = abs(getDoubleVal(strData,"bsp",valData,base_speed));
+  seeking_speed = abs(getDoubleVal(strData,"ssp",valData,seeking_speed));
+  lidar_thres = getDoubleVal(strData,"lth",valData,lidar_thres);
 }
 
 double getDoubleVal(String checkData,String Ans,double val,double ori_val){
@@ -172,3 +184,59 @@ int getIntVal(String checkData,String Ans,double val,int ori_val){
     return ori_val;
   }
 }
+
+void print_allvariables(){
+  if (print_count<=1){
+    Serial.print("---------------");
+    Serial.print("base speed:");
+    Serial.print(base_speed);
+    Serial.print("|");
+    Serial.print("seeking speed:");
+    Serial.print(seeking_speed);
+    Serial.print("|");
+    Serial.print("lidar thres:");
+    Serial.println(lidar_thres);
+   
+    
+    Serial.print("threshold:");
+    Serial.print(threshold[0]);
+    Serial.print("|");
+    Serial.print(threshold[1]);
+    Serial.print("|");
+    Serial.print(threshold[2]);
+    Serial.print("|");
+    Serial.print(threshold[3]);
+    Serial.print("|");
+    Serial.print(threshold[4]); 
+    Serial.print("|");   
+    Serial.println(threshold[5]);  
+    
+
+   
+    Serial.print("gid:");
+    Serial.print(goal_id[0]);
+    Serial.print(goal_id[1]);
+    Serial.println(goal_id[2]);
+  
+    
+    Serial.print("Kpx:");
+    Serial.print(Kpx);
+    Serial.print("|"); 
+    Serial.print("Kix:");
+    Serial.print(Kix);
+     Serial.print("|");
+    Serial.print("Kdx:");
+    Serial.print(Kdx);
+     Serial.print("|");
+    Serial.print("Kdy:");
+    Serial.print(Kdy);
+     Serial.print("|");
+    Serial.print("Kiy:");
+    Serial.print(Kiy);
+     Serial.print("|");
+    Serial.print("Kpy:");
+    Serial.println(Kpy);
+
+    print_count +=1 ;
+  }
+}