gestrure_control_robot.ino

#include <esp_now.h>
#include <WiFi.h>

int motor1Pin1 = 27; 
int motor1Pin2 = 26; 
int motor1Pin3 = 21; 
int motor1Pin4 = 22; 

// REPLACE WITH THE MAC Address of your receiver 
uint8_t broadcastAddress[] = {0x08,0x3A,0xF2,0x65,0xD8,0xC4};

// Define variables to store BME280 readings to be sent
float temperature;
float humidity;

// Define variables to store incoming readings
float incomingTemp;
float incomingHum;

// Variable to store if sending data was successful
String success;

typedef struct struct_message {
    float temp;
    float hum;
} struct_message;

// Create a struct_message called BME280Readings to hold sensor readings
struct_message BME280Readings;

// Create a struct_message to hold incoming sensor readings
struct_message incomingReadings;

esp_now_peer_info_t peerInfo;

// 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(&incomingReadings, incomingData, sizeof(incomingReadings));
  Serial.print("Bytes received: ");
  Serial.println(len);
  incomingTemp = incomingReadings.temp;
  incomingHum = incomingReadings.hum;
}
 
void setup() {
  Serial.begin(115200);

  pinMode(motor1Pin1, OUTPUT);
  pinMode(motor1Pin2, OUTPUT);
  pinMode(motor1Pin3, OUTPUT);
  pinMode(motor1Pin4, OUTPUT);
 
  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
  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);
}
 
void loop() {
 
  BME280Readings.temp = temperature;
  BME280Readings.hum = humidity;

  // Send message via ESP-NOW
  esp_err_t result = esp_now_send(broadcastAddress, (uint8_t *) &BME280Readings, sizeof(BME280Readings));
   
  if (result == ESP_OK) {
    Serial.println("Sent with success");
  }
  else {
    Serial.println("Error sending the data");
  }
  updateDisplay();
  delay(1000);
}


void getReadings(){
  temperature = random(300);
  humidity = random(300);
}

void updateDisplay(){
  if(incomingReadings.temp > 0.50)
  {
    Serial.println("LEFT");
    digitalWrite(motor1Pin1, HIGH);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor1Pin3, LOW);
    digitalWrite(motor1Pin4, HIGH);
  }
  else if(incomingReadings.temp < -0.50)
  {
    Serial.println("RIGHT");
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, HIGH);
    digitalWrite(motor1Pin3, HIGH);
    digitalWrite(motor1Pin4, LOW);
  }
  else if(incomingReadings.hum > 0.5)
  {
    Serial.println("BACK");
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, HIGH);
    digitalWrite(motor1Pin3, LOW);
    digitalWrite(motor1Pin4, HIGH);
  }
  else if(incomingReadings.hum < -0.5)
  {
    Serial.println("FRONT");
    digitalWrite(motor1Pin1, HIGH);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor1Pin3, HIGH);
    digitalWrite(motor1Pin4, LOW);
  }
  else{
    Serial.println("STOP");
    digitalWrite(motor1Pin1, LOW);
    digitalWrite(motor1Pin2, LOW);
    digitalWrite(motor1Pin3, LOW);
    digitalWrite(motor1Pin4, LOW);
  }

  Serial.println();
}