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Networking

There are 3 sections that require networking integration.

  1. Main microcontroller to ESP01 board from week12
  2. Entire system to Computer Application.

Main microcontroller to ESP01 board

As the ESP01 board has a hardware serial port, I decided that the ESP01 will send velocities to the microcontroller via hardware serial. By using simple Serial.parseFloat() commmands, I am able to get 3 velocities from the serial port of ESP01. This is pretty much the same process as in week13

Entire system to Computer Application

Since I am using MQTT protocol, from the microcontroller side I changed the listening of topics from attiny1614/led to omniwheel_controller/location. The schema that I followed was:

<left_motor_speed>[space]<right_motor_speed>[space]<front_motor_speed>

Next, I removed the circles which indicated which buttons were pushed from week15 Application Programming. And from those arrows, I did an MQTT publish for a short ratio of movement in the direction. These values can be determined when I am doing calculations for velocities for each wheel.

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Last update: November 23, 2022