Common code problems

0arjuns_2005 · July 29, 2024, 7:03am

We are trying to upload code in esp32 dev module in arduino ide software and we wre geting this type of error .

and here the code:-

#include <Wire.h>;
#include <ESP8266WiFi>;
#include <WiFiUdp.h&gt>;
WiFiUDP UDP;
char packet[4];
//IPAddress local_IP(192, 168, 203, 158);
//IPAddress gateway(192, 168, 1, 158);
//IPAddress subnet(255, 255, 0, 0);
//_________________________________________// 
int ESCout_1 ,ESCout_2 ,ESCout_3 ,ESCout_4;
int input_PITCH = 50;
int input_ROLL = 50;
int input_YAW = 50;
volatile int input_THROTTLE = 0;
int Mode = 0;
boolean wall_car_init = false;
boolean set_motor_const_speed = false;
int8_t target_axis=0;
int8_t target_dirr=0;
boolean wheal_state = false;
uint8_t pwm_stops;
int arr[] = {20,10,20,10};
volatile int order[] = {0,0,0,0}; //volatile key
int temp_arr[] = {0,0,0,0};
int pulldown_time_temp[] = {0,0,0,0,0};
int pulldown_time[] = {0,0,0,0,0};
volatile int pulldown_time_temp_loop[] = {0,0,0,0,0}; //volatile key
uint8_t pin[] = {14,12,13,15};
int i,j,temp_i,temp;
boolean orderState1,orderState2,orderState3,orderState4,Timer_Init;
int16_t gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, temperature, acc_total_vector;
float angle_pitch, angle_roll,angle_yaw,prev_roll,prev_pitch,prev_yaw;
boolean set_gyro_angles;
float angle_roll_acc, angle_pitch_acc;
float angle_pitch_output, angle_roll_output, angle_yaw_output;
long Time, timePrev;
float elapsedTime,P_factor;
float acceleration_x,acceleration_y,acceleration_z;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
float pitch_PID,roll_PID,yaw_PID;
float roll_error, roll_previous_error, pitch_error, pitch_previous_error, yaw_error, yaw_previous_error;
float roll_pid_p, roll_pid_d, roll_pid_i, pitch_pid_p, pitch_pid_i, pitch_pid_d, yaw_pid_p, yaw_pid_i, yaw_pid_d;
float roll_desired_angle, pitch_desired_angle, yaw_desired_angle;
double twoX_kp=5; //5
double twoX_ki=0.003; //0.003
double twoX_kd=1.4; //1.4
double yaw_kp=8; //5
double yaw_ki=0; //0.005
double yaw_kd=4; //2.8
 
void ICACHE_RAM_ATTR PWM_callback() {
switch (pwm_stops){
case 0:
pulldown_time_temp[0] = pulldown_time_temp_loop[0];
pulldown_time_temp[1] = pulldown_time_temp_loop[1];
pulldown_time_temp[2] = pulldown_time_temp_loop[2];
pulldown_time_temp[3] = pulldown_time_temp_loop[3];
pulldown_time_temp[4] = pulldown_time_temp_loop[4];
pwm_stops = 1;
if(input_THROTTLE!=0){GPOS = (1 &lt;&lt; 14);GPOS = (1 &lt;&lt; 12);GPOS = (1 &lt;&lt; 15);GPOS = (1 &lt;&lt; 13);}
timer1_write(80*pulldown_time_temp[0]);
break;
case 1:
pwm_stops = 2;
GPOC = (1 &lt;&lt; pin[order[0]]);
timer1_write(80*pulldown_time_temp[1]);
break;
case 2:
pwm_stops = 3;
GPOC = (1 &lt;&lt; pin[order[1]]);
timer1_write(80*pulldown_time_temp[2]);
break;
case 3:
pwm_stops = 4;
GPOC = (1 &lt;&lt; pin[order[2]]);
timer1_write(80*pulldown_time_temp[3]);
break;
case 4:
pwm_stops = 0;
GPOC = (1 &lt;&lt; pin[order[3]]);
timer1_write(80*pulldown_time_temp[4]);
break;
}
}
 
void setup() {
pinMode(D5,OUTPUT);pinMode(D6,OUTPUT);pinMode(D7,OUTPUT);pinMode(D8,OUTPUT);pinMode(D0,OUTPUT);
GPOC = (1 &lt;&lt; 14);GPOC = (1 &lt;&lt; 12);GPOC = (1 &lt;&lt; 13);GPOC = (1 &lt;&lt; 15);
digitalWrite(D0,LOW);
Serial.begin(115200);
WiFi.mode(WIFI_STA);
WiFi.begin("Redmi_R", "deywifi3210");
while (WiFi.status() != WL_CONNECTED){ delay(500);}
Serial.println(WiFi.localIP());
UDP.begin(9999);
delay(6000);
//____________________________________________________________________//
Wire.begin();
Wire.setClock(400000);
Wire.beginTransmission(0x68);
Wire.write(0x6B);
Wire.write(0x00);
Wire.endTransmission();
Wire.beginTransmission(0x68);
Wire.write(0x1C); //accel
Wire.write(0x08); //+-4g
Wire.endTransmission();
Wire.beginTransmission(0x68);
Wire.write(0x1B); //gyro
Wire.write(0x18); //2000dps
Wire.endTransmission();
Wire.beginTransmission(0x68);
Wire.write(0x1A);
Wire.write(0x03);
Wire.endTransmission();
//____________________________________________________________________//
for (int cal_int = 0; cal_int &lt; 4000 ; cal_int ++){
if(cal_int % 125 == 0)Serial.print(".");
Wire.beginTransmission(0x68);
Wire.write(0x3B);
Wire.endTransmission();
Wire.requestFrom(0x68,14);
while(Wire.available() &lt; 14);
acc_y = Wire.read()&lt;&lt;8|Wire.read();
acc_x = Wire.read()&lt;&lt;8|Wire.read();
acc_z = Wire.read()&lt;&lt;8|Wire.read();
temperature = Wire.read()&lt;&lt;8|Wire.read();
gyro_y = Wire.read()&lt;&lt;8|Wire.read();
gyro_x = Wire.read()&lt;&lt;8|Wire.read();
gyro_z = Wire.read()&lt;&lt;8|Wire.read();
gyro_x_cal += gyro_x;
gyro_y_cal += gyro_y;
gyro_z_cal += gyro_z;
delayMicroseconds(100);
}
gyro_x_cal /= 4000;
gyro_y_cal /= 4000;
gyro_z_cal /= 4000;
timer1_attachInterrupt(PWM_callback);
timer1_enable(TIM_DIV1, TIM_EDGE, TIM_SINGLE);
}
 
void loop() {
//--------------------------------MPU6050----------------------------//
timePrev = Time;
Time = micros();
elapsedTime = (float)(Time - timePrev) / (float)1000000;
Wire.beginTransmission(0x68);
Wire.write(0x3B);
Wire.endTransmission();
Wire.requestFrom(0x68,14);
while(Wire.available() &lt; 14);
acc_y = Wire.read()&lt;&lt;8|Wire.read();
acc_x = Wire.read()&lt;&lt;8|Wire.read();
acc_z = Wire.read()&lt;&lt;8|Wire.read();
temperature = Wire.read()&lt;&lt;8|Wire.read();
gyro_y = Wire.read()&lt;&lt;8|Wire.read();
gyro_x = Wire.read()&lt;&lt;8|Wire.read();
gyro_z = Wire.read()&lt;&lt;8|Wire.read();
gyro_x -= gyro_x_cal;
gyro_y -= gyro_y_cal;
gyro_z -= gyro_z_cal;
acceleration_x = gyro_x * (-0.0610687023);
acceleration_y = gyro_y * (-0.0610687023);
acceleration_z = gyro_z * (-0.0610687023);
angle_pitch += acceleration_x * elapsedTime;
angle_roll += acceleration_y * elapsedTime;
angle_yaw += acceleration_z * elapsedTime;
if(angle_yaw &gt;= 180.00){angle_yaw-=360;}
else if(angle_yaw &lt; -180.00){angle_yaw+=360;}
angle_roll_acc = atan(acc_x/sqrt(acc_y *acc_y + acc_z*acc_z))*(-57.296);
angle_pitch_acc = atan(acc_y/sqrt(acc_x*acc_x + acc_z*acc_z))*57.296;
angle_pitch_acc -= 4;
angle_roll_acc += 9;
if(set_gyro_angles){
angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004;
angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004;
}
else{
angle_pitch = angle_pitch_acc;
angle_roll = angle_roll_acc;
set_gyro_angles = true;
}
angle_pitch_output = angle_pitch_output * 0.9 + angle_pitch * 0.1;
angle_roll_output = angle_roll_output * 0.9 + angle_roll * 0.1;
angle_yaw_output = angle_yaw_output * 0.9 + angle_yaw * 0.1;
 
//--------------------------PID_Calculation--------------------------//
if(wall_car_init==false){
roll_desired_angle = 3*(input_ROLL - 50)/10.0;
pitch_desired_angle = 3*(input_PITCH - 50)/10.0;
}
P_factor = 0.001286376*input_THROTTLE + 0.616932;
 
roll_error = angle_roll_output - roll_desired_angle;
pitch_error = angle_pitch_output - pitch_desired_angle;
yaw_error = angle_yaw_output;
 
roll_pid_p = P_factor*twoX_kp*roll_error;
pitch_pid_p = P_factor*twoX_kp*pitch_error;
yaw_pid_p = yaw_kp*yaw_error;
 
roll_pid_i += twoX_ki*roll_error;
pitch_pid_i += twoX_ki*pitch_error;
yaw_pid_i += yaw_ki*yaw_error;
 
roll_pid_d = twoX_kd*acceleration_y;
pitch_pid_d = twoX_kd*acceleration_x;
yaw_pid_d = yaw_kd*acceleration_z;
 
if(roll_pid_i &gt; 0 &amp;&amp; roll_error &lt; 0){roll_pid_i=0;}
else if(roll_pid_i &lt; 0 &amp;&amp; roll_error &gt; 0){roll_pid_i=0;}
if(pitch_pid_i &gt; 0 &amp;&amp; pitch_error &lt; 0){pitch_pid_i=0;}
else if(pitch_pid_i &lt; 0 &amp;&amp; pitch_error &gt; 0){pitch_pid_i=0;}
if(yaw_pid_i &gt; 0 &amp;&amp; yaw_error &lt; 0){yaw_pid_i=0;}
else if(yaw_pid_i &lt; 0 &amp;&amp; yaw_error &gt; 0){yaw_pid_i=0;}
 
roll_PID = roll_pid_p + roll_pid_i + roll_pid_d;
pitch_PID = pitch_pid_p + pitch_pid_i + pitch_pid_d;
yaw_PID = yaw_pid_p + yaw_pid_i + yaw_pid_d;
 
ESCout_1 = input_THROTTLE + pitch_PID - roll_PID + yaw_PID;
ESCout_2 = input_THROTTLE + pitch_PID + roll_PID - yaw_PID;
ESCout_3 = input_THROTTLE - pitch_PID + roll_PID + yaw_PID;
ESCout_4 = input_THROTTLE - pitch_PID - roll_PID - yaw_PID;
 
//------------------------- CarMode -----------------------------//
if(Mode==1 &amp;&amp; (abs(input_ROLL-50)&gt;30 || abs(input_PITCH-50)&gt;30)){
wall_car_init = true;
if(input_ROLL &gt; 30){target_axis = 1; target_dirr = 1;}
else if(input_ROLL &lt; -30){target_axis = 1; target_dirr = -1;}
else if(input_PITCH &gt; 30){target_axis = 2; target_dirr = 1;}
else if(input_PITCH &lt; -30){target_axis = 2; target_dirr = -1;}
}
else if(Mode==0){wall_car_init=false;set_motor_const_speed=false;}
 
if(wall_car_init==true){
if(target_axis=1){roll_desired_angle = 90*target_dirr;}
else if(target_axis=2){pitch_desired_angle = 90*target_dirr;}
if((abs(acceleration_x)&lt;15 &amp;&amp; abs(acceleration_y)&lt;15) &amp;&amp; (abs(angle_roll_output)&gt;45 || abs(angle_pitch_output)&gt;45)){set_motor_const_speed = true;}
if(set_motor_const_speed==true){
ESCout_1 = 1100; ESCout_2 = 1103; ESCout_3 = 1106; ESCout_4 = 1109;
if(input_ROLL&gt;50 &amp;&amp; wheal_state == true){digitalWrite(D0,HIGH);}
}
}
//----------------------------------------------------------------//
 
if(ESCout_1&gt;1199) ESCout_1=1199;
else if(ESCout_1&lt;1) ESCout_1=1;
if(ESCout_2&gt;1199) ESCout_2=1199;
else if(ESCout_2&lt;1) ESCout_2=1;
if(ESCout_3&gt;1199) ESCout_3=1199;
else if(ESCout_3&lt;1) ESCout_3=1;
if(ESCout_4&gt;1199) ESCout_4=1199;
else if(ESCout_4&lt;1) ESCout_4=1;
 
//----------------------------- Sorting -------------------------------//
arr[0]=ESCout_1;arr[1]=ESCout_2;arr[2]=ESCout_3;arr[3]=ESCout_4;
temp_arr[0] = arr[0];temp_arr[1] = arr[1];temp_arr[2] = arr[2];temp_arr[3] = arr[3];
for (i = 0; i &lt; 3; i++){
temp_i = i;
for (j = i+1; j &lt; 4; j++)
if (temp_arr[j] &lt; temp_arr[temp_i])
temp_i = j;
temp = temp_arr[temp_i];
temp_arr[temp_i] = temp_arr[i];
temp_arr[i] = temp;
}
pulldown_time[0]=temp_arr[0];
pulldown_time[1]=temp_arr[1]-temp_arr[0];
pulldown_time[2]=temp_arr[2]-temp_arr[1];
pulldown_time[3]=temp_arr[3]-temp_arr[2];
pulldown_time[4]=1200-temp_arr[3];
if(pulldown_time[1]==0){pulldown_time[1]=1;}
if(pulldown_time[2]==0){pulldown_time[2]=1;}
if(pulldown_time[3]==0){pulldown_time[3]=1;}
if(pulldown_time[4]==0){pulldown_time[4]=1;}
pulldown_time_temp_loop[0] = pulldown_time[0];
pulldown_time_temp_loop[1] = pulldown_time[1];
pulldown_time_temp_loop[2] = pulldown_time[2];
pulldown_time_temp_loop[3] = pulldown_time[3];
pulldown_time_temp_loop[4] = pulldown_time[4];
orderState1=false;orderState2=false;orderState3=false;orderState4=false;
for(int k=0; k &lt;4; k++){
if(temp_arr[0] == arr[k] &amp;&amp; orderState1 == false){ order[0] = k; orderState1=true;}
else if(temp_arr[1] == arr[k] &amp;&amp; orderState2 == false){ order[1] = k; orderState2=true;}
else if(temp_arr[2] == arr[k] &amp;&amp; orderState3 == false){ order[2] = k; orderState3=true;}
else if(temp_arr[3] == arr[k] &amp;&amp; orderState4 == false){ order[3] = k; orderState4=true;}
}
 
//----------------------------- WiFi ----------------------------------//
int packetSize = UDP.parsePacket();
if (packetSize) {
int len = UDP.read(packet, 4);
if(len&gt;0){packet[len] = '\0';}
input_ROLL = int(packet[0]);
input_PITCH = int(packet[1]);
input_THROTTLE = int(packet[2])*24;
Mode = int(packet[3]);
}
if(input_THROTTLE == 0){
angle_yaw_output=0;angle_yaw=0;yaw_PID=0;
yaw_pid_p=0;yaw_pid_i=0;yaw_pid_d=0;twoX_ki=0;
}
//-------------------------------------------------------------------//
 
//Serial.print(input_ROLL);Serial.print(" ");
//Serial.print(input_PITCH);Serial.print(" ");
//Serial.print(input_THROTTLE);Serial.print(" ");
//Serial.print(angle_roll_output,0);Serial.print(" ");
//Serial.print(angle_pitch_output,0);//Serial.print(" ");
//Serial.println(input_THROTTLE);
 
if(wheal_state == false){digitalWrite(D0,LOW);}
 
if(Timer_Init == false){
timer1_write(80);
Timer_Init = true;
}
wheal_state = !wheal_state;
while(Time - timePrev &lt;1200);
}

how to resolved this error ?
thank you

UKHeliBob · July 29, 2024, 7:09am

#include &lt;ESP8266WiFi.h&gt;
#include &lt;WiFiUdp.h&gt;

At a guess you copied the code from a Web site

The &Lt; should presumably be < and the > should be >

That would make those lines of code

#include <ESP8266WiFi.h>
#include <WiFiUdp.h>

There may be other errors but I did not look any further because of the inconvenient way in which the code and error messages were posted

Please follow the advice given in the link below when posting code, in particular the section entitled 'Posting code and common code problems'

Use code tags (the < CODE/ > icon above the compose window) to make it easier to read and copy for examination

https://forum.arduino.cc/t/how-to-get-the-best-out-of-this-forum

Do the same when posting error messages

gcjr · July 29, 2024, 12:18pm

there are several other problems

besides < and >, there's also &
semicolons after #includes
didn't see where GPOS & GPOC are defined
time1_write(), timer1_enable() and timer1_interrupt() weren't defined
places where '<' and '<' were on separate lines
extra chars preceeding a yaw_pid_d =
couples places where target_axis=1 should probably be target_axis == 1
at the end of the file, while (Time - timePrev < 1200) won't terminate without either Time or timePrev being updated

considering these probelms, assume there are many others

hallowed31 · July 29, 2024, 12:59pm

Interesting. The &lt occurs throughout the sketch, looks like every time the < symbol for I suppose some bit shifting later, too.
I used a little Google Fu and found

Bug: When pasting from Excel, < turns into "<"If you copy text from Excel and paste into column or row titles in Prism, the less than symbol < gets converted to "<" , which is the is the HTML entity for 'less than' character. Similarly, the greater than symbol > gets converted to ">"

gcjr · July 29, 2024, 1:17pm

yes, those are HTML symbol escape sequences. You must have copied the code off a web page instead of getting the .txt version

0arjuns_2005 · July 30, 2024, 7:42am

as you have said earlier we tried that but we didnt get the results but we get this .

we include this library :
1 esp32wifi.h
2 esp8266wifi.h
3 wire.h

how to resolve this ?

0arjuns_2005 · July 30, 2024, 7:44am

we copied this code from a website .

UKHeliBob · July 30, 2024, 7:45am

You have the board set to ESP32 but the code is for an ESP8266

Please follow the advice given in the link below when posting code, in particular the section entitled 'Posting code and common code problems'

Use code tags (the < CODE/ > icon above the compose window) to make it easier to read and copy for examination

https://forum.arduino.cc/t/how-to-get-the-best-out-of-this-forum

In my experience the easiest way to tidy up the code and add the code tags is as follows

Start by tidying up your code by using Tools/Auto Format in the IDE to make it easier to read. Then use Edit/Copy for Forum and paste what was copied in a new reply. Code tags will have been added to the code to make it easy to read in the forum thus making it easier to provide help.

hallowed31 · July 30, 2024, 1:32pm

Where did you get the code? I'm not going through this and hand fixing every copy-paste error.

b707 · July 30, 2024, 1:38pm

It is a bad idea just a copy a code somewhere if you don't understand it.

xfpd · July 30, 2024, 4:16pm

I did a search and replace for &, >, <, and removed ";" from the #include<>s... see if this crashes...

#include <Wire.h>
#include <ESP8266WiFi.h>
#include <WiFiUdp.h>
WiFiUDP UDP;
char packet[4];
//IPAddress local_IP(192, 168, 203, 158);
//IPAddress gateway(192, 168, 1, 158);
//IPAddress subnet(255, 255, 0, 0);
//_________________________________________//
int ESCout_1, ESCout_2, ESCout_3, ESCout_4;
int input_PITCH = 50;
int input_ROLL = 50;
int input_YAW = 50;
volatile int input_THROTTLE = 0;
int Mode = 0;
boolean wall_car_init = false;
boolean set_motor_const_speed = false;
int8_t target_axis = 0;
int8_t target_dirr = 0;
boolean wheal_state = false;
uint8_t pwm_stops;
int arr[] = {20, 10, 20, 10};
volatile int order[] = {0, 0, 0, 0}; //volatile key
int temp_arr[] = {0, 0, 0, 0};
int pulldown_time_temp[] = {0, 0, 0, 0, 0};
int pulldown_time[] = {0, 0, 0, 0, 0};
volatile int pulldown_time_temp_loop[] = {0, 0, 0, 0, 0}; //volatile key
uint8_t pin[] = {14, 12, 13, 15};
int i, j, temp_i, temp;
boolean orderState1, orderState2, orderState3, orderState4, Timer_Init;
int16_t gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, temperature, acc_total_vector;
float angle_pitch, angle_roll, angle_yaw, prev_roll, prev_pitch, prev_yaw;
boolean set_gyro_angles;
float angle_roll_acc, angle_pitch_acc;
float angle_pitch_output, angle_roll_output, angle_yaw_output;
long Time, timePrev;
float elapsedTime, P_factor;
float acceleration_x, acceleration_y, acceleration_z;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
float pitch_PID, roll_PID, yaw_PID;
float roll_error, roll_previous_error, pitch_error, pitch_previous_error, yaw_error, yaw_previous_error;
float roll_pid_p, roll_pid_d, roll_pid_i, pitch_pid_p, pitch_pid_i, pitch_pid_d, yaw_pid_p, yaw_pid_i, yaw_pid_d;
float roll_desired_angle, pitch_desired_angle, yaw_desired_angle;
double twoX_kp = 5; //5
double twoX_ki = 0.003; //0.003
double twoX_kd = 1.4; //1.4
double yaw_kp = 8; //5
double yaw_ki = 0; //0.005
double yaw_kd = 4; //2.8

void ICACHE_RAM_ATTR PWM_callback() {
  switch (pwm_stops) {
    case 0:
      pulldown_time_temp[0] = pulldown_time_temp_loop[0];
      pulldown_time_temp[1] = pulldown_time_temp_loop[1];
      pulldown_time_temp[2] = pulldown_time_temp_loop[2];
      pulldown_time_temp[3] = pulldown_time_temp_loop[3];
      pulldown_time_temp[4] = pulldown_time_temp_loop[4];
      pwm_stops = 1;
      if (input_THROTTLE != 0) {
        GPOS = (1  <<  14);
        GPOS = (1  <<  12);
        GPOS = (1  <<  15);
        GPOS = (1  <<  13);
      }
      timer1_write(80 * pulldown_time_temp[0]);
      break;
    case 1:
      pwm_stops = 2;
      GPOC = (1  <<  pin[order[0]]);
      timer1_write(80 * pulldown_time_temp[1]);
      break;
    case 2:
      pwm_stops = 3;
      GPOC = (1  <<  pin[order[1]]);
      timer1_write(80 * pulldown_time_temp[2]);
      break;
    case 3:
      pwm_stops = 4;
      GPOC = (1  <<  pin[order[2]]);
      timer1_write(80 * pulldown_time_temp[3]);
      break;
    case 4:
      pwm_stops = 0;
      GPOC = (1  <<  pin[order[3]]);
      timer1_write(80 * pulldown_time_temp[4]);
      break;
  }
}

void setup() {
  pinMode(D5, OUTPUT); pinMode(D6, OUTPUT); pinMode(D7, OUTPUT); pinMode(D8, OUTPUT); pinMode(D0, OUTPUT);
  GPOC = (1  <<  14); GPOC = (1  <<  12); GPOC = (1  <<  13); GPOC = (1  <<  15);
  digitalWrite(D0, LOW);
  Serial.begin(115200);
  WiFi.mode(WIFI_STA);
  WiFi.begin("Redmi_R", "deywifi3210");
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
  }
  Serial.println(WiFi.localIP());
  UDP.begin(9999);
  delay(6000);
  //____________________________________________________________________//
  Wire.begin();
  Wire.setClock(400000);
  Wire.beginTransmission(0x68);
  Wire.write(0x6B);
  Wire.write(0x00);
  Wire.endTransmission();
  Wire.beginTransmission(0x68);
  Wire.write(0x1C); //accel
  Wire.write(0x08); //+-4g
  Wire.endTransmission();
  Wire.beginTransmission(0x68);
  Wire.write(0x1B); //gyro
  Wire.write(0x18); //2000dps
  Wire.endTransmission();
  Wire.beginTransmission(0x68);
  Wire.write(0x1A);
  Wire.write(0x03);
  Wire.endTransmission();
  //____________________________________________________________________//
  for (int cal_int = 0; cal_int < 4000 ; cal_int ++) {
    if (cal_int % 125 == 0)Serial.print(".");
    Wire.beginTransmission(0x68);
    Wire.write(0x3B);
    Wire.endTransmission();
    Wire.requestFrom(0x68, 14);
    while (Wire.available() < 14);
    acc_y = Wire.read() << 8 | Wire.read();
    acc_x = Wire.read() << 8 | Wire.read();
    acc_z = Wire.read() << 8 | Wire.read();
    temperature = Wire.read() << 8 | Wire.read();
    gyro_y = Wire.read() << 8 | Wire.read();
    gyro_x = Wire.read() << 8 | Wire.read();
    gyro_z = Wire.read() << 8 | Wire.read();
    gyro_x_cal += gyro_x;
    gyro_y_cal += gyro_y;
    gyro_z_cal += gyro_z;
    delayMicroseconds(100);
  }
  gyro_x_cal /= 4000;
  gyro_y_cal /= 4000;
  gyro_z_cal /= 4000;
  timer1_attachInterrupt(PWM_callback);
  timer1_enable(TIM_DIV1, TIM_EDGE, TIM_SINGLE);
}

void loop() {
  //--------------------------------MPU6050----------------------------//
  timePrev = Time;
  Time = micros();
  elapsedTime = (float)(Time - timePrev) / (float)1000000;
  Wire.beginTransmission(0x68);
  Wire.write(0x3B);
  Wire.endTransmission();
  Wire.requestFrom(0x68, 14);
  while (Wire.available() < 14);
  acc_y = Wire.read() << 8 | Wire.read();
  acc_x = Wire.read() << 8 | Wire.read();
  acc_z = Wire.read() << 8 | Wire.read();
  temperature = Wire.read() << 8 | Wire.read();
  gyro_y = Wire.read() << 8 | Wire.read();
  gyro_x = Wire.read() << 8 | Wire.read();
  gyro_z = Wire.read() << 8 | Wire.read();
  gyro_x -= gyro_x_cal;
  gyro_y -= gyro_y_cal;
  gyro_z -= gyro_z_cal;
  acceleration_x = gyro_x * (-0.0610687023);
  acceleration_y = gyro_y * (-0.0610687023);
  acceleration_z = gyro_z * (-0.0610687023);
  angle_pitch += acceleration_x * elapsedTime;
  angle_roll += acceleration_y * elapsedTime;
  angle_yaw += acceleration_z * elapsedTime;
  if (angle_yaw  > = 180.00) {
    angle_yaw -= 360;
  }
  else if (angle_yaw < -180.00) {
    angle_yaw += 360;
  }
  angle_roll_acc = atan(acc_x / sqrt(acc_y * acc_y + acc_z * acc_z)) * (-57.296);
  angle_pitch_acc = atan(acc_y / sqrt(acc_x * acc_x + acc_z * acc_z)) * 57.296;
  angle_pitch_acc -= 4;
  angle_roll_acc += 9;
  if (set_gyro_angles) {
    angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004;
    angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004;
  }
  else {
    angle_pitch = angle_pitch_acc;
    angle_roll = angle_roll_acc;
    set_gyro_angles = true;
  }
  angle_pitch_output = angle_pitch_output * 0.9 + angle_pitch * 0.1;
  angle_roll_output = angle_roll_output * 0.9 + angle_roll * 0.1;
  angle_yaw_output = angle_yaw_output * 0.9 + angle_yaw * 0.1;

  //--------------------------PID_Calculation--------------------------//
  if (wall_car_init == false) {
    roll_desired_angle = 3 * (input_ROLL - 50) / 10.0;
    pitch_desired_angle = 3 * (input_PITCH - 50) / 10.0;
  }
  P_factor = 0.001286376 * input_THROTTLE + 0.616932;

  roll_error = angle_roll_output - roll_desired_angle;
  pitch_error = angle_pitch_output - pitch_desired_angle;
  yaw_error = angle_yaw_output;

  roll_pid_p = P_factor * twoX_kp * roll_error;
  pitch_pid_p = P_factor * twoX_kp * pitch_error;
  yaw_pid_p = yaw_kp * yaw_error;

  roll_pid_i += twoX_ki * roll_error;
  pitch_pid_i += twoX_ki * pitch_error;
  yaw_pid_i += yaw_ki * yaw_error;

  roll_pid_d = twoX_kd * acceleration_y;
  pitch_pid_d = twoX_kd * acceleration_x;
  yaw_pid_d = yaw_kd * acceleration_z;

  if (roll_pid_i > 0 && roll_error < 0) {
    roll_pid_i = 0;
  }
  else if (roll_pid_i < 0 && roll_error > 0) {
    roll_pid_i = 0;
  }
  if (pitch_pid_i > 0 && pitch_error < 0) {
    pitch_pid_i = 0;
  }
  else if (pitch_pid_i < 0 && pitch_error > 0) {
    pitch_pid_i = 0;
  }
  if (yaw_pid_i > 0 && yaw_error < 0) {
    yaw_pid_i = 0;
  }
  else if (yaw_pid_i < 0 && yaw_error > 0) {
    yaw_pid_i = 0;
  }

  roll_PID = roll_pid_p + roll_pid_i + roll_pid_d;
  pitch_PID = pitch_pid_p + pitch_pid_i + pitch_pid_d;
  yaw_PID = yaw_pid_p + yaw_pid_i + yaw_pid_d;

  ESCout_1 = input_THROTTLE + pitch_PID - roll_PID + yaw_PID;
  ESCout_2 = input_THROTTLE + pitch_PID + roll_PID - yaw_PID;
  ESCout_3 = input_THROTTLE - pitch_PID + roll_PID + yaw_PID;
  ESCout_4 = input_THROTTLE - pitch_PID - roll_PID - yaw_PID;

  //------------------------- CarMode -----------------------------//
  if (Mode == 1 && (abs(input_ROLL - 50) > 30 || abs(input_PITCH - 50) > 30)) {
    wall_car_init = true;
    if (input_ROLL > 30) {
      target_axis = 1;
      target_dirr = 1;
    }
    else if (input_ROLL < -30) {
      target_axis = 1;
      target_dirr = -1;
    }
    else if (input_PITCH > 30) {
      target_axis = 2;
      target_dirr = 1;
    }
    else if (input_PITCH < -30) {
      target_axis = 2;
      target_dirr = -1;
    }
  }
  else if (Mode == 0) {
    wall_car_init = false;
    set_motor_const_speed = false;
  }

  if (wall_car_init == true) {
    if (target_axis = 1) {
      roll_desired_angle = 90 * target_dirr;
    }
    else if (target_axis = 2) {
      pitch_desired_angle = 90 * target_dirr;
    }
    if ((abs(acceleration_x) < 15 && abs(acceleration_y) < 15) && (abs(angle_roll_output) > 45 || abs(angle_pitch_output) > 45)) {
      set_motor_const_speed = true;
    }
    if (set_motor_const_speed == true) {
      ESCout_1 = 1100; ESCout_2 = 1103; ESCout_3 = 1106; ESCout_4 = 1109;
      if (input_ROLL > 50 && wheal_state == true) {
        digitalWrite(D0, HIGH);
      }
    }
  }
  //----------------------------------------------------------------//

  if (ESCout_1 > 1199) ESCout_1 = 1199;
  else if (ESCout_1 < 1) ESCout_1 = 1;
  if (ESCout_2 > 1199) ESCout_2 = 1199;
  else if (ESCout_2 < 1) ESCout_2 = 1;
  if (ESCout_3 > 1199) ESCout_3 = 1199;
  else if (ESCout_3 < 1) ESCout_3 = 1;
  if (ESCout_4 > 1199) ESCout_4 = 1199;
  else if (ESCout_4 < 1) ESCout_4 = 1;

  //----------------------------- Sorting -------------------------------//
  arr[0] = ESCout_1; arr[1] = ESCout_2; arr[2] = ESCout_3; arr[3] = ESCout_4;
  temp_arr[0] = arr[0]; temp_arr[1] = arr[1]; temp_arr[2] = arr[2]; temp_arr[3] = arr[3];
  for (i = 0; i < 3; i++) {
    temp_i = i;
    for (j = i + 1; j < 4; j++)
      if (temp_arr[j] < temp_arr[temp_i])
        temp_i = j;
    temp = temp_arr[temp_i];
    temp_arr[temp_i] = temp_arr[i];
    temp_arr[i] = temp;
  }
  pulldown_time[0] = temp_arr[0];
  pulldown_time[1] = temp_arr[1] - temp_arr[0];
  pulldown_time[2] = temp_arr[2] - temp_arr[1];
  pulldown_time[3] = temp_arr[3] - temp_arr[2];
  pulldown_time[4] = 1200 - temp_arr[3];
  if (pulldown_time[1] == 0) {
    pulldown_time[1] = 1;
  }
  if (pulldown_time[2] == 0) {
    pulldown_time[2] = 1;
  }
  if (pulldown_time[3] == 0) {
    pulldown_time[3] = 1;
  }
  if (pulldown_time[4] == 0) {
    pulldown_time[4] = 1;
  }
  pulldown_time_temp_loop[0] = pulldown_time[0];
  pulldown_time_temp_loop[1] = pulldown_time[1];
  pulldown_time_temp_loop[2] = pulldown_time[2];
  pulldown_time_temp_loop[3] = pulldown_time[3];
  pulldown_time_temp_loop[4] = pulldown_time[4];
  orderState1 = false; orderState2 = false; orderState3 = false; orderState4 = false;
  for (int k = 0; k  < 4; k++) {
    if (temp_arr[0] == arr[k] && orderState1 == false) {
      order[0] = k;
      orderState1 = true;
    }
    else if (temp_arr[1] == arr[k] && orderState2 == false) {
      order[1] = k;
      orderState2 = true;
    }
    else if (temp_arr[2] == arr[k] && orderState3 == false) {
      order[2] = k;
      orderState3 = true;
    }
    else if (temp_arr[3] == arr[k] && orderState4 == false) {
      order[3] = k;
      orderState4 = true;
    }
  }

  //----------------------------- WiFi ----------------------------------//
  int packetSize = UDP.parsePacket();
  if (packetSize) {
    int len = UDP.read(packet, 4);
    if (len > 0) {
      packet[len] = '\0';
    }
    input_ROLL = int(packet[0]);
    input_PITCH = int(packet[1]);
    input_THROTTLE = int(packet[2]) * 24;
    Mode = int(packet[3]);
  }
  if (input_THROTTLE == 0) {
    angle_yaw_output = 0; angle_yaw = 0; yaw_PID = 0;
    yaw_pid_p = 0; yaw_pid_i = 0; yaw_pid_d = 0; twoX_ki = 0;
  }
  //-------------------------------------------------------------------//

  //Serial.print(input_ROLL);Serial.print(" ");
  //Serial.print(input_PITCH);Serial.print(" ");
  //Serial.print(input_THROTTLE);Serial.print(" ");
  //Serial.print(angle_roll_output,0);Serial.print(" ");
  //Serial.print(angle_pitch_output,0);//Serial.print(" ");
  //Serial.println(input_THROTTLE);

  if (wheal_state == false) {
    digitalWrite(D0, LOW);
  }

  if (Timer_Init == false) {
    timer1_write(80);
    Timer_Init = true;
  }
  wheal_state = !wheal_state;
  while (Time - timePrev  < 1200);
}

xfpd · July 30, 2024, 4:24pm

P.S. I found the "original" web site... complete with &, <, > and extra ";"

It is a shame these sites can't be taken down.

0arjuns_2005 · July 31, 2024, 7:01am

We have tried your given code but it didn't work as you can see the picture we are facing this problem .

\

here we are using ESP32 WROOM modual . we also tried <ESP32WiFi.h> instead of <ESP8266WiFI.h> but we didn't get any result .

how do we add file directory ?

UKHeliBob · July 31, 2024, 7:02am

Why have you chosen the advice given to post code using code tags ?

xfpd · July 31, 2024, 7:03am

I gave no code, just edited the original. You failed to provide a link. I found the place you copied the bad code from. That person/web site also copied bad code from somewhere else. Learn to code by learning to code, not by copy/paste and have someone else fix the mess. You learn nothing that way.

UKHeliBob · July 31, 2024, 7:07am

Stop guessing how it should be programmed and look at the WiFi examples for the ESP32 to see the name of the WiFi library to #include

0arjuns_2005 · August 2, 2024, 6:53am

we have done changes in code and also installed eeprom library but then also we are getting a problem in eeprom,

in the end we are getting this error :-

and some changes in our code
code :-

#include <Wire.h>
#include <WiFi.h>
#include <WiFiUdp.h>
#include <GPS.h>
WiFiUDP UDP;
char packet[4];
//IPAddress local_IP(192, 168, 203, 158);
//IPAddress gateway(192, 168, 1, 158);
//IPAddress subnet(255, 255, 0, 0);
//_________________________________________//
int ESCout_1, ESCout_2, ESCout_3, ESCout_4;
int input_PITCH = 50;
int input_ROLL = 50;
int input_YAW = 50;
volatile int input_THROTTLE = 0;
int Mode = 0;
boolean wall_car_init = false;
boolean set_motor_const_speed = false;
int8_t target_axis = 0;
int8_t target_dirr = 0;
boolean wheal_state = false;
uint8_t pwm_stops;
int arr[] = {20, 10, 20, 10};
volatile int order[] = {0, 0, 0, 0}; //volatile key
int temp_arr[] = {0, 0, 0, 0};
int pulldown_time_temp[] = {0, 0, 0, 0, 0};
int pulldown_time[] = {0, 0, 0, 0, 0};
volatile int pulldown_time_temp_loop[] = {0, 0, 0, 0, 0}; //volatile key
uint8_t pin[] = {14, 12, 13, 15};
int i, j, temp_i, temp;
boolean orderState1, orderState2, orderState3, orderState4, Timer_Init;
int16_t gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z, temperature, acc_total_vector;
float angle_pitch, angle_roll, angle_yaw, prev_roll, prev_pitch, prev_yaw;
boolean set_gyro_angles;
float angle_roll_acc, angle_pitch_acc;
float angle_pitch_output, angle_roll_output, angle_yaw_output;
long Time, timePrev;
float elapsedTime, P_factor;
float acceleration_x, acceleration_y, acceleration_z;
long gyro_x_cal, gyro_y_cal, gyro_z_cal;
float pitch_PID, roll_PID, yaw_PID;
float roll_error, roll_previous_error, pitch_error, pitch_previous_error, yaw_error, yaw_previous_error;
float roll_pid_p, roll_pid_d, roll_pid_i, pitch_pid_p, pitch_pid_i, pitch_pid_d, yaw_pid_p, yaw_pid_i, yaw_pid_d;
float roll_desired_angle, pitch_desired_angle, yaw_desired_angle;
double twoX_kp = 5; //5
double twoX_ki = 0.003; //0.003
double twoX_kd = 1.4; //1.4
double yaw_kp = 8; //5
double yaw_ki = 0; //0.005
double yaw_kd = 4; //2.8
void ICACHE_RAM_ATTR PWM_callback() {
  switch (pwm_stops) {
    case 0:
      pulldown_time_temp[0] = pulldown_time_temp_loop[0];
      pulldown_time_temp[1] = pulldown_time_temp_loop[1];
      pulldown_time_temp[2] = pulldown_time_temp_loop[2];
      pulldown_time_temp[3] = pulldown_time_temp_loop[3];
      pulldown_time_temp[4] = pulldown_time_temp_loop[4];
      pwm_stops = 1;
      if (input_THROTTLE != 0) {
        GPOS = (1  <<  14);
        GPOS = (1  <<  12);
        GPOS = (1  <<  15);
        GPOS = (1  <<  13);
      }
      timer1_write(80 * pulldown_time_temp[0]);
      break;
    case 1:
      pwm_stops = 2;
      GPOC = (1  <<  pin[order[0]]);
      timer1_write(80 * pulldown_time_temp[1]);
      break;
    case 2:
      pwm_stops = 3;
      GPOC = (1  <<  pin[order[1]]);
      timer1_write(80 * pulldown_time_temp[2]);
      break;
    case 3:
      pwm_stops = 4;
      GPOC = (1  <<  pin[order[2]]);
      timer1_write(80 * pulldown_time_temp[3]);
      break;
    case 4:
      pwm_stops = 0;
      GPOC = (1  <<  pin[order[3]]);
      timer1_write(80 * pulldown_time_temp[4]);
      break;
  }
}

void setup() {
  pinMode(D5, OUTPUT); pinMode(D6, OUTPUT); pinMode(D7, OUTPUT); pinMode(D8, OUTPUT); pinMode(D0, OUTPUT);
  GPOC = (1  <<  14); GPOC = (1  <<  12); GPOC = (1  <<  13); GPOC = (1  <<  15);
  digitalWrite(D0, LOW);
  Serial.begin(115200);
  WiFi.mode(WIFI_STA);
  WiFi.begin("Redmi_R", "deywifi3210");
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
  }
  Serial.println(WiFi.localIP());
  UDP.begin(9999);
  delay(6000);
  //____________________________________________________________________//
  Wire.begin();
  Wire.setClock(400000);
  Wire.beginTransmission(0x68);
  Wire.write(0x6B);
  Wire.write(0x00);
  Wire.endTransmission();
  Wire.beginTransmission(0x68);
  Wire.write(0x1C); //accel
  Wire.write(0x08); //+-4g
  Wire.endTransmission();
  Wire.beginTransmission(0x68);
  Wire.write(0x1B); //gyro
  Wire.write(0x18); //2000dps
  Wire.endTransmission();
  Wire.beginTransmission(0x68);
  Wire.write(0x1A);
  Wire.write(0x03);
  Wire.endTransmission();
  //____________________________________________________________________//
  for (int cal_int = 0; cal_int < 4000 ; cal_int ++) {
    if (cal_int % 125 == 0)Serial.print(".");
    Wire.beginTransmission(0x68);
    Wire.write(0x3B);
    Wire.endTransmission();
    Wire.requestFrom(0x68, 14);
    while (Wire.available() < 14);
    acc_y = Wire.read() << 8 | Wire.read();
    acc_x = Wire.read() << 8 | Wire.read();
    acc_z = Wire.read() << 8 | Wire.read();
    temperature = Wire.read() << 8 | Wire.read();
    gyro_y = Wire.read() << 8 | Wire.read();
    gyro_x = Wire.read() << 8 | Wire.read();
    gyro_z = Wire.read() << 8 | Wire.read();
    gyro_x_cal += gyro_x;
    gyro_y_cal += gyro_y;
    gyro_z_cal += gyro_z;
    delayMicroseconds(100);
  }
  gyro_x_cal /= 4000;
  gyro_y_cal /= 4000;
  gyro_z_cal /= 4000;
  timer1_attachInterrupt(PWM_callback);
  timer1_enable(TIM_DIV1, TIM_EDGE, TIM_SINGLE);
}

void loop() {
  //--------------------------------MPU6050----------------------------//
  timePrev = Time;
  Time = micros();
  elapsedTime = (float)(Time - timePrev) / (float)1000000;
  Wire.beginTransmission(0x68);
  Wire.write(0x3B);
  Wire.endTransmission();
  Wire.requestFrom(0x68, 14);
  while (Wire.available() < 14);
  acc_y = Wire.read() << 8 | Wire.read();
  acc_x = Wire.read() << 8 | Wire.read();
  acc_z = Wire.read() << 8 | Wire.read();
  temperature = Wire.read() << 8 | Wire.read();
  gyro_y = Wire.read() << 8 | Wire.read();
  gyro_x = Wire.read() << 8 | Wire.read();
  gyro_z = Wire.read() << 8 | Wire.read();
  gyro_x -= gyro_x_cal;
  gyro_y -= gyro_y_cal;
  gyro_z -= gyro_z_cal;
  acceleration_x = gyro_x * (-0.0610687023);
  acceleration_y = gyro_y * (-0.0610687023);
  acceleration_z = gyro_z * (-0.0610687023);
  angle_pitch += acceleration_x * elapsedTime;
  angle_roll += acceleration_y * elapsedTime;
  angle_yaw += acceleration_z * elapsedTime;
  if (angle_yaw  > = 180.00) {
    angle_yaw -= 360;
  }
  else if (angle_yaw < -180.00) {
    angle_yaw += 360;
  }
  angle_roll_acc = atan(acc_x / sqrt(acc_y * acc_y + acc_z * acc_z)) * (-57.296);
  angle_pitch_acc = atan(acc_y / sqrt(acc_x * acc_x + acc_z * acc_z)) * 57.296;
  angle_pitch_acc -= 4;
  angle_roll_acc += 9;
  if (set_gyro_angles) {
    angle_pitch = angle_pitch * 0.9996 + angle_pitch_acc * 0.0004;
    angle_roll = angle_roll * 0.9996 + angle_roll_acc * 0.0004;
  }
  else {
    angle_pitch = angle_pitch_acc;
    angle_roll = angle_roll_acc;
    set_gyro_angles = true;
  }
  angle_pitch_output = angle_pitch_output * 0.9 + angle_pitch * 0.1;
  angle_roll_output = angle_roll_output * 0.9 + angle_roll * 0.1;
  angle_yaw_output = angle_yaw_output * 0.9 + angle_yaw * 0.1;

  //--------------------------PID_Calculation--------------------------//
  if (wall_car_init == false) {
    roll_desired_angle = 3 * (input_ROLL - 50) / 10.0;
    pitch_desired_angle = 3 * (input_PITCH - 50) / 10.0;
  }
  P_factor = 0.001286376 * input_THROTTLE + 0.616932;

  roll_error = angle_roll_output - roll_desired_angle;
  pitch_error = angle_pitch_output - pitch_desired_angle;
  yaw_error = angle_yaw_output;

  roll_pid_p = P_factor * twoX_kp * roll_error;
  pitch_pid_p = P_factor * twoX_kp * pitch_error;
  yaw_pid_p = yaw_kp * yaw_error;

  roll_pid_i += twoX_ki * roll_error;
  pitch_pid_i += twoX_ki * pitch_error;
  yaw_pid_i += yaw_ki * yaw_error;

  roll_pid_d = twoX_kd * acceleration_y;
  pitch_pid_d = twoX_kd * acceleration_x;
  yaw_pid_d = yaw_kd * acceleration_z;

  if (roll_pid_i > 0 && roll_error < 0) {
    roll_pid_i = 0;
  }
  else if (roll_pid_i < 0 && roll_error > 0) {
    roll_pid_i = 0;
  }
  if (pitch_pid_i > 0 && pitch_error < 0) {
    pitch_pid_i = 0;
  }
  else if (pitch_pid_i < 0 && pitch_error > 0) {
    pitch_pid_i = 0;
  }
  if (yaw_pid_i > 0 && yaw_error < 0) {
    yaw_pid_i = 0;
  }
  else if (yaw_pid_i < 0 && yaw_error > 0) {
    yaw_pid_i = 0;
  }

  roll_PID = roll_pid_p + roll_pid_i + roll_pid_d;
  pitch_PID = pitch_pid_p + pitch_pid_i + pitch_pid_d;
  yaw_PID = yaw_pid_p + yaw_pid_i + yaw_pid_d;

  ESCout_1 = input_THROTTLE + pitch_PID - roll_PID + yaw_PID;
  ESCout_2 = input_THROTTLE + pitch_PID + roll_PID - yaw_PID;
  ESCout_3 = input_THROTTLE - pitch_PID + roll_PID + yaw_PID;
  ESCout_4 = input_THROTTLE - pitch_PID - roll_PID - yaw_PID;

  

  //----------------------------- Sorting -------------------------------//
  arr[0] = ESCout_1; arr[1] = ESCout_2; arr[2] = ESCout_3; arr[3] = ESCout_4;
  temp_arr[0] = arr[0]; temp_arr[1] = arr[1]; temp_arr[2] = arr[2]; temp_arr[3] = arr[3];
  for (i = 0; i < 3; i++) {
    temp_i = i;
    for (j = i + 1; j < 4; j++)
      if (temp_arr[j] < temp_arr[temp_i])
        temp_i = j;
    temp = temp_arr[temp_i];
    temp_arr[temp_i] = temp_arr[i];
    temp_arr[i] = temp;
  }
  pulldown_time[0] = temp_arr[0];
  pulldown_time[1] = temp_arr[1] - temp_arr[0];
  pulldown_time[2] = temp_arr[2] - temp_arr[1];
  pulldown_time[3] = temp_arr[3] - temp_arr[2];
  pulldown_time[4] = 1200 - temp_arr[3];
  if (pulldown_time[1] == 0) {
    pulldown_time[1] = 1;
  }
  if (pulldown_time[2] == 0) {
    pulldown_time[2] = 1;
  }
  if (pulldown_time[3] == 0) {
    pulldown_time[3] = 1;
  }
  if (pulldown_time[4] == 0) {
    pulldown_time[4] = 1;
  }
  pulldown_time_temp_loop[0] = pulldown_time[0];
  pulldown_time_temp_loop[1] = pulldown_time[1];
  pulldown_time_temp_loop[2] = pulldown_time[2];
  pulldown_time_temp_loop[3] = pulldown_time[3];
  pulldown_time_temp_loop[4] = pulldown_time[4];
  orderState1 = false; orderState2 = false; orderState3 = false; orderState4 = false;
  for (int k = 0; k  < 4; k++) {
    if (temp_arr[0] == arr[k] && orderState1 == false) {
      order[0] = k;
      orderState1 = true;
    }
    else if (temp_arr[1] == arr[k] && orderState2 == false) {
      order[1] = k;
      orderState2 = true;
    }
    else if (temp_arr[2] == arr[k] && orderState3 == false) {
      order[2] = k;
      orderState3 = true;
    }
    else if (temp_arr[3] == arr[k] && orderState4 == false) {
      order[3] = k;
      orderState4 = true;
    }
  }

  //----------------------------- WiFi ----------------------------------//
  int packetSize = UDP.parsePacket();
  if (packetSize) {
    int len = UDP.read(packet, 4);
    if (len > 0) {
      packet[len] = '\0';
    }
    input_ROLL = int(packet[0]);
    input_PITCH = int(packet[1]);
    input_THROTTLE = int(packet[2]) * 24;
    Mode = int(packet[3]);
  }
  if (input_THROTTLE == 0) {
    angle_yaw_output = 0; angle_yaw = 0; yaw_PID = 0;
    yaw_pid_p = 0; yaw_pid_i = 0; yaw_pid_d = 0; twoX_ki = 0;
  }
  //-------------------------------------------------------------------//

  //Serial.print(input_ROLL);Serial.print(" ");
  //Serial.print(input_PITCH);Serial.print(" ");
  //Serial.print(input_THROTTLE);Serial.print(" ");
  //Serial.print(angle_roll_output,0);Serial.print(" ");
  //Serial.print(angle_pitch_output,0);//Serial.print(" ");
  //Serial.println(input_THROTTLE);

  if (wheal_state == false) {
    digitalWrite(D0, LOW);
  }

  if (Timer_Init == false) {
    timer1_write(80);
    Timer_Init = true;
  
  }
  wheal_state = !wheal_state;
  while (Time - timePrev  < 1200);
}

b707 · August 2, 2024, 6:56am

According to error message, you installed the library for AVR controllers, while your board is ESP.

@0arjuns_2005
How many times do we have to tell you not to put pictures of code and error messages in the forum before you understand that???

b707 · August 2, 2024, 7:12am

@0arjuns_2005
Why do you need to upload this code?
You obviously don't have even basic knowledge of Arduino and programming. If you want to learn, you need to start with simple examples: blinking an LED, controlling a motor, an LED strip.

The project you took is an advanced level, which you will grow up to in a year at best.

system · January 29, 2025, 7:12am

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.

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