gesture_controller.ino

#include <esp_now.h>
#include <WiFi.h>
#include <M5Core2.h>

// REPLACE WITH THE MAC Address of your receiver 
uint8_t broadcastAddress[] = {0xA4,0xCF,0x12,0x8D,0x0E,0x7C};

float accX = 0.0F;  
float accY = 0.0F;  
float accZ = 0.0F;

float gyroX = 0.0F;
float gyroY = 0.0F;
float gyroZ = 0.0F;

float pitch = 0.0F;
float roll  = 0.0F;
float yaw   = 0.0F;

float temp = 0.0F;

// 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() {

  M5.begin(); 
  M5.IMU.Init();
  M5.Lcd.begin(); 
  M5.Lcd.setTextSize(4);
  M5.Lcd.print("ROtate the device to control robot");
  
  Serial.begin(115200);
 
  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);
  randomSeed(analogRead(0));
}
 
void loop() {

  M5.IMU.getGyroData(&gyroX,&gyroY,&gyroZ);
  M5.IMU.getAccelData(&accX,&accY,&accZ); 
  M5.IMU.getAhrsData(&pitch,&roll,&yaw);  
  M5.IMU.getTempData(&temp);
 
  // Set values to send
  BME280Readings.temp = accX;
  BME280Readings.hum = accY;


  // 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");
  }
  delay(1000);
}