add parseData function to receiver file

comm/reciever/pid.ino

@@ -8,5 +8,4 @@ float pid(float target, float atual){
 	float output = error * kp ;
 
 	return output;
-
-}
+}

comm/reciever/reciever.ino

@@ -2,7 +2,6 @@
 #include <esp_wifi.h>
 #include <WiFi.h>
 
-#define CHANNEL 3
 
 //pin definitions
 #define PWMA 19
@@ -18,25 +17,27 @@ float v_l, v_a;
 int first_mark, second_mark;
 
 
-typedef struct recieved_message {
-  int id;
-  float v_l;
-  float v_a;
-} recieved_message;
+const byte numChars = 64;
+char commands[numChars];
+char tempChars[numChars];
 
-recieved_message commands;
+int robot_id = 0;
+int id;
+float robot_vl;
+float robot_va;
+
+typedef struct struct_message{
+  char message[64];
+  } struct_message;
+
+struct_message rcv_commands;
 
-recieved_message robot;
 
 void OnDataRecv(const uint8_t * mac_addr, const uint8_t *incomingData, int len) {
-  memcpy(&commands, incomingData, sizeof(commands));
+  memcpy(&rcv_commands, incomingData, sizeof(rcv_commands));
   // Update the structures with the new incoming data
   first_mark = millis();
-
-  robot.id = commands.id;
-  robot.v_l = commands.v_l;
-  robot.v_a = commands.v_a;
-  Serial.println();
+  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
@@ -140,8 +141,11 @@ void setup() {
 void loop() {
   second_mark = millis();
 
-  v_l = robot.v_l;
-  v_a = robot.v_a;
+  strcpy(tempChars, commands);
+  parseData();
+
+  v_l = robot_vl;
+  v_a = robot_va;
 
 
   if (second_mark - first_mark > 500) {
@@ -152,3 +156,27 @@ void loop() {
 
   motors_control(v_l, v_a); //aplica os valores para os motores
 }
+
+void parseData(){
+    char * strtokIndx; // this is used by strtok() as an index
+
+    strtokIndx = strtok(tempChars, ",");
+
+    while (strtokIndx != NULL){
+        id = atoi(strtokIndx);
+
+        if(id == robot_id){         
+          strtokIndx = strtok(NULL, ",");  
+          robot_vl = atof(strtokIndx);       
+          strtokIndx = strtok(NULL, ",");         
+          robot_va = atof(strtokIndx);
+          strtokIndx = strtok(NULL, ","); 
+       }
+
+       else{
+          strtokIndx = strtok(NULL, ",");     
+          strtokIndx = strtok(NULL, ",");         
+          strtokIndx = strtok(NULL, ","); 
+       }
+   } 
+}

comm/sender/sender.ino

@@ -16,6 +16,12 @@ char tempChars[numChars];
 boolean newData = false;     
 int id, count;
 
+typedef struct struct_message{
+  char message[numChars];
+  } struct_message;
+
+struct_message commands;
+
 //==============
 
 
@@ -24,14 +30,14 @@ esp_now_peer_info_t peerInfo;
 void setup() {
   Serial.begin(115200);
 
-  ESP_ERROR_CHECK(esp_netif_init());
-  ESP_ERROR_CHECK(esp_event_loop_create_default());
+  esp_netif_init();
+  esp_event_loop_create_default();
   wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
-  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(14, WIFI_SECOND_CHAN_NONE));
+  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_wifi_set_max_tx_power(84);
 
 // ESP_ERROR_CHECK
@@ -63,6 +69,7 @@ void loop() {
       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;
   }
@@ -107,5 +114,7 @@ void recvWithStartEndMarkers(){
 
 void sendData(){   
     // esse delay é necessário para que os dados sejam enviados corretamente
-    esp_err_t receivedChars = esp_now_send(broadcast_adr, (uint8_t *) &receivedChars, sizeof(receivedChars));
+    esp_err_t message = esp_now_send(broadcast_adr, (uint8_t *) &commands, sizeof(commands));
+    delay(3);
+
 }

comm/test.py

@@ -2,7 +2,7 @@
 from random import randint
 
 # No Linux, a porta não será "COMX" e sim algo parecido com a linha abaixo
-esp32 = serial.Serial('/dev/ttyUSB0', 115200)
+esp32 = serial.Serial('/dev/ttyUSB1', 115200)
 # esp32 = serial.Serial("COM6", 115200)
 
 i = 0
@@ -13,11 +13,11 @@
     v_l1 = str(80)
     v_a1 = str(80)
 
-    id2 = str(0)
+    id2 = str(9)
     v_l2 = str(100)
     v_a2 = str(100)
 
-    id3 = str(9)
+    id3 = str(0)
     v_l3 = str(120)
     v_a3 = str(120)