ESPNOWを使ったジョイスティックコントローラ

	//
	// Joystick Remote
	// Kiraku Labo 2022
	//
	#include <M5Atom.h>
	#define SDA_PIN 26
	#define SCL_PIN 32
	#include <WiFi.h>
	#include <esp_now.h>
	#define GRN 0xf00000
	#define RED 0x00f000
	#define BLU 0x0000f0
	#define CHANNEL 0
	#define JOY_ADDR 0x52
	uint32_t msecJoy=0;
	byte robotMACaddr[] = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff};
	byte xyb[4]; //joystick x, jostick y, joystick button, ATOM button
	byte offset[2]; //joystick x,y offset
	int16_t xy[2], offset16[2];
	const float ROOT2=1.4142;
	uint32_t msRcv=0;
	char s[100];
	void setup() {
	M5.begin(true,false,true);
	M5.dis.drawpix(0, RED);
	Serial.begin(115200);
	Wire.begin(SDA_PIN, SCL_PIN, 50000); //SDA, SCL, freq
	setupESPNOW();
	int16_t x=0, y=0;
	for (int i=0; i<10; i++) {
	getJoy();
	x += xyb[0];
	y += xyb[1];
	}
	offset[0]=(byte)(x/10);
	offset[1]=(byte)(y/10);
	msecJoy=millis();
	}
	void loop() {
	static int8_t joyData[4];
	if (millis()-msecJoy<100) return;
	msecJoy=millis();
	getJoy();
	M5.update();
	joyData[0]=offset[0]-xyb[0];
	joyData[1]=offset[1]-xyb[1];
	joyData[2]=xyb[2];
	if (joyData[2]==1) M5.dis.drawpix(0, BLU);
	else M5.dis.drawpix(0, RED);
	if (M5.Btn.isPressed()) joyData[3]=1; //M5ATOM button (0:off, 1:on)
	else joyData[3]=0;
	esp_now_send(robotMACaddr, (uint8_t*)joyData, 4);
	}
	void getJoy() {
	Wire.requestFrom(JOY_ADDR, 3); //Request 3 bytes
	if (Wire.available()) {
	xyb[0] = Wire.read(); //joy x
	xyb[1] = Wire.read(); //joy y
	xyb[2] = Wire.read(); //joy button (0:off, 1:on for Grove)
	}
	}
	void setupESPNOW() {
	Serial.print("MAC=");
	Serial.println(WiFi.macAddress());
	WiFi.mode(WIFI_STA);
	WiFi.disconnect();
	esp_now_init();
	esp_now_register_recv_cb(onRecv);
	esp_now_peer_info_t peerInfo={};
	memcpy(peerInfo.peer_addr, robotMACaddr, 6);
	peerInfo.channel = CHANNEL;
	peerInfo.encrypt = false;
	esp_now_add_peer(&peerInfo);
	}
	void onRecv(const uint8_t * mac, const uint8_t *recvData, int len) {
	for (int i=0; i<len; i++) {
	s[i]=recvData[i];
	}
	s[len]='\0';
	Serial.flush();
	Serial.println(s);
	msRcv=millis();
	M5.dis.drawpix(0, GRN);
	}
	void sendData(String s) {
	esp_now_send(robotMACaddr, (const byte*)s.c_str(), s.length());
	}

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