remove unnecessary code

project-neon · Jan 26, 2023 · 28690fb · 28690fb
1 parent 0735a9b
commit 28690fb
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Showing 2 changed files with 24 additions and 45 deletions.
diff --git a/comm/reciever/reciever.ino b/comm/reciever/reciever.ino
@@ -3,7 +3,7 @@
 #include <WiFi.h>
 
 
-//pin definitions
+//definição dos pins
 #define PWMA 19
 #define PWMB 27
 #define A1  5
@@ -12,19 +12,16 @@
 #define B2  26
 #define stby 33
 
-// This is de code for the board that is in robots
-float v_l, v_a;
+int robot_id = 9;
+int id;
 int first_mark, second_mark;
 
+float v_l, v_a;
 
 const byte numChars = 64;
 char commands[numChars];
 char tempChars[numChars];
 
-int robot_id = 0;
-int id;
-float robot_vl;
-float robot_va;
 
 typedef struct struct_message{
   char message[64];
@@ -40,6 +37,7 @@ void OnDataRecv(const uint8_t * mac_addr, const uint8_t *incomingData, int len)
   strcpy(commands, rcv_commands.message);
 }
 
+
 void motor_R(int speedR) { // se o valor for positivo gira para um lado e se for negativo troca o sentido
   if (speedR > 0) {
     digitalWrite(A1, 1);
@@ -50,6 +48,8 @@ void motor_R(int speedR) { // se o valor for positivo gira para um lado e se for
   }
   ledcWrite(1, abs( speedR));
 }
+
+
 void motor_L(int speedL) {
   if (speedL > 0) {
     digitalWrite(B1, 1);
@@ -61,6 +61,7 @@ void motor_L(int speedL) {
   ledcWrite(2, abs( speedL));
 }
 
+
 void motors_control(float linear, float angular) {
   angular = pid(angular, - get_theta_speed());
 
@@ -116,49 +117,38 @@ void setup() {
   ESP_ERROR_CHECK( esp_wifi_set_storage(WIFI_STORAGE_RAM) );
   ESP_ERROR_CHECK( esp_wifi_set_mode(WIFI_MODE_STA) );
   ESP_ERROR_CHECK( esp_wifi_start());
-  ESP_ERROR_CHECK( esp_wifi_set_channel(14, WIFI_SECOND_CHAN_NONE));
-  // esp_wifi_set_max_tx_power(84);
-
-// ESP_ERROR_CHECK
-  // WiFi.mode(WIFI_STA);
-  // esp_wifi_set_channel(14, WIFI_SECOND_CHAN_NONE);
+  ESP_ERROR_CHECK( esp_wifi_set_channel(1, WIFI_SECOND_CHAN_NONE));
 
   if (esp_now_init() != ESP_OK) 
   {
     Serial.println("Error initializing ESP-NOW");
     return;
   }
 
-  // esp_wifi_set_channel(CHANNEL, WIFI_SECOND_CHAN_NONE);
-
   esp_now_register_recv_cb(OnDataRecv);
 
   // configuração mpu
-
   mpu_init();
 }
 
+
 void loop() {
   second_mark = millis();
 
-  strcpy(tempChars, commands);
+  strcpy(tempChars, commands); // necessário para proteger a informação original
   parseData();
 
-  v_l = robot_vl;
-  v_a = robot_va;
-
-
   if (second_mark - first_mark > 500) {
     v_l = 0.00;
     v_a = 0.00;
   }
 
-
   motors_control(v_l, v_a); //aplica os valores para os motores
 }
 
+
 void parseData(){
-    char * strtokIndx; // this is used by strtok() as an index
+    char * strtokIndx;
 
     strtokIndx = strtok(tempChars, ",");
 
@@ -167,9 +157,9 @@ void parseData(){
 
         if(id == robot_id){         
           strtokIndx = strtok(NULL, ",");  
-          robot_vl = atof(strtokIndx);       
+          v_l = atof(strtokIndx);       
           strtokIndx = strtok(NULL, ",");         
-          robot_va = atof(strtokIndx);
+          v_a = atof(strtokIndx);
           strtokIndx = strtok(NULL, ","); 
        }
 

diff --git a/comm/sender/sender.ino b/comm/sender/sender.ino
@@ -3,9 +3,7 @@
 #include <WiFi.h>
 
 
-// This is the code for the board that is connected to PC
-
-// MAC Adress de cada uma das placas que receberao comandos
+// MAC Adress genérico para enviar os dados no canal selecionado
 uint8_t broadcast_adr[] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
 
 //==============
@@ -24,34 +22,28 @@ struct_message commands;
 
 //==============
 
-
 esp_now_peer_info_t peerInfo;
 
 void setup() {
   Serial.begin(115200);
 
-  esp_netif_init();
-  esp_event_loop_create_default();
+  ESP_ERROR_CHECK(esp_netif_init());
+  ESP_ERROR_CHECK(esp_event_loop_create_default());
   wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
-  esp_wifi_init(&cfg);
-  esp_wifi_set_storage(WIFI_STORAGE_RAM);
-  esp_wifi_set_mode(WIFI_MODE_STA);
-  esp_wifi_start();
-  esp_wifi_set_channel(14, WIFI_SECOND_CHAN_NONE);
+  ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+  ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
+  ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+  ESP_ERROR_CHECK(esp_wifi_start());
+  ESP_ERROR_CHECK(esp_wifi_set_channel(1, WIFI_SECOND_CHAN_NONE));
   esp_wifi_set_max_tx_power(84);
 
-// ESP_ERROR_CHECK
-  // WiFi.mode(WIFI_STA);
-  // esp_wifi_set_channel(14, WIFI_SECOND_CHAN_NONE);
 
   if (esp_now_init() != ESP_OK) 
   {
     Serial.println("Error initializing ESP-NOW");
     return;
   }
 
-
-  //
   memcpy(peerInfo.peer_addr, broadcast_adr, 6);
   if (esp_now_add_peer(&peerInfo) != ESP_OK) 
   {
@@ -66,9 +58,6 @@ void setup() {
 void loop() {
   recvWithStartEndMarkers();
   if (newData == true){
-      strcpy(tempChars, receivedChars);
-          // this temporary copy is necessary to protect the original data
-          //   because strtok() used in parseData() replaces the commas with \0
       strcpy(commands.message, receivedChars);
       sendData();
       newData = false;
@@ -85,7 +74,7 @@ void recvWithStartEndMarkers(){
     char in;
 
     while (Serial.available()){
-        //  Message format:
+        //  Formato da mensagem::
         //  <[id1],[v_l1],[v_a1],[id2],[v_l2],[v_a2],[id3],[v_l3],[v_a3]>
         in = Serial.read();