hatchling_receiver/TurtleReceiver.cpp at main · turtle-robotics/hatchling_receiver · GitHub

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#include <TurtleReceiver.h>

bool NetController::displayDebugMessages;

NetController::NetController(bool displayDebugMessage){
  displayDebugMessages = displayDebugMessage;

}


void OnDataRecv(const uint8_t * mac, const uint8_t *incomingData, int len) {

  memcpy(&controllerData, incomingData, sizeof(controllerData));
  if(NetController::getDebug()){
    Serial.println("received controller message");
    Serial.printf("joy1: %.2f %.2f %d  buttons: %d %d %d %d %d %d\n", controllerData.j1x, controllerData.j1y,
    controllerData.j1z, controllerData.butA, controllerData.butB,
    controllerData.butX, controllerData.butY, controllerData.butR, controllerData.butL); // bro this line is a mess there must be a better way
  }

}

void NetController::controllerSetup(){
  // Set device as a Wi-Fi Station

  WiFi.mode(WIFI_STA);

  // Init ESP-NOW
  if (esp_now_init() != ESP_OK) {
    Serial.println("Error initializing ESP-NOW");

  }

  // Once ESPNow is successfully Init, we will register for recv CB to
  // get recv packer info

  esp_now_register_recv_cb(esp_now_recv_cb_t(OnDataRecv));
}

bool NetController::getDebug(){
  return displayDebugMessages;
}

float NetController::getJoy1X(){
  return controllerData.j1x;
}
float NetController::getJoy1Y(){
  return controllerData.j1y;
}


bool NetController::getJoy1Z(){
  return controllerData.j1z;
}


bool NetController::getA(){
  return controllerData.butA;
}
bool NetController::getB(){
  return controllerData.butB;
}
bool NetController::getX(){
  return controllerData.butX;
}
bool NetController::getY(){
  return controllerData.butY;
}
bool NetController::getR(){
  return controllerData.butR;
}
bool NetController::getL(){
  return controllerData.butL;
}


/**
 * @brief function to print out your mac address. send it to us once u got it. make sure to call Serial.begin() before doin this
 */
void printMacAddress(){

  WiFi.mode(WIFI_STA);
  uint8_t baseMac[6];
  esp_err_t ret = esp_wifi_get_mac(WIFI_IF_STA, baseMac);
  if (ret == ESP_OK) {
    Serial.printf("%02x:%02x:%02x:%02x:%02x:%02x\n",
                  baseMac[0], baseMac[1], baseMac[2],
                  baseMac[3], baseMac[4], baseMac[5]);
  } else {
    Serial.println("Failed to read MAC address");
  }
}