esp-now-receiver.c

#include <ESP8266WiFi.h>
#include <espnow.h>

// Structure example to receive data
// Must match the sender structure
typedef struct struct_message {    
    int a0;
    int a1;
    int a2;
    int a3;
    int a4;
    int a5;
    int a6;
    int a7;
} struct_message;

// Create a struct_message called myData
struct_message myData;

uint8_t Pwm1 = 5; //Nodemcu PWM pin 
uint8_t Pwm2 = 4; //Nodemcu PWM pin

int a0 = 15;  //Gpio-15 of nodemcu esp8266  
int a1 = 13;  //Gpio-13 of nodemcu esp8266    
int a2 = 12;  //Gpio-12 of nodemcu esp8266   
int a3 = 14;  //Gpio-14 of nodemcu esp8266   

// Callback function that will be executed when data is received
void OnDataRecv(uint8_t * mac, uint8_t *incomingData, uint8_t len) {
  memcpy(&myData, incomingData, sizeof(myData));
  Serial.print(myData.a0);
  Serial.print(myData.a1);
  Serial.print(myData.a2);
  Serial.print(myData.a3);
  Serial.print("-");
  Serial.print(myData.a4);
  Serial.print(myData.a5);
  Serial.print(myData.a6);
  Serial.print(myData.a7);
  Serial.println();

  if (!myData.a0)  {  
    digitalWrite(a0, HIGH); //Start first motor
    digitalWrite(a1, LOW);
  
    digitalWrite(a2, LOW); //Start second motor
    digitalWrite(a3, HIGH);
  }

  if (!myData.a3)  {  
    digitalWrite(a0, LOW); //Start first motor
    digitalWrite(a1, HIGH);
  
    digitalWrite(a2, HIGH); //Start second motor
    digitalWrite(a3, LOW);
  }

  if (!myData.a1)  {  
    digitalWrite(a0, HIGH); //Start first motor
    digitalWrite(a1, LOW);
  
    digitalWrite(a2, HIGH); //Start second motor
    digitalWrite(a3, LOW);
  }

  if (!myData.a2)  {  
    digitalWrite(a0, LOW); //Start first motor
    digitalWrite(a1, HIGH);
  
    digitalWrite(a2, LOW); //Start second motor
    digitalWrite(a3, HIGH);
  }

  if ((myData.a0)&&(myData.a1)&&(myData.a2)&&(myData.a3))  {  
    digitalWrite(a0, LOW); //Start first motor
    digitalWrite(a1, LOW);
  
    digitalWrite(a2, LOW); //Start second motor
    digitalWrite(a3, LOW);
  }

  if (!myData.a7)  {  
    analogWrite(Pwm1, 100);
    analogWrite(Pwm2, 100);
  }
  if (!myData.a6)  {  
    analogWrite(Pwm1, 150);
    analogWrite(Pwm2, 150);
  }
  if (!myData.a5)  {  
    analogWrite(Pwm1, 200);
    analogWrite(Pwm2, 200);
  }
  if (!myData.a4)  {  
    analogWrite(Pwm1, 250);
    analogWrite(Pwm2, 250);
  }

}
 
void setup() {
  // Initialize Serial Monitor
  Serial.begin(115200);
  
  pinMode(a0, OUTPUT);     
  pinMode(a1, OUTPUT);     
  pinMode(a2, OUTPUT);
  pinMode(a3, OUTPUT);
  delay(2000);

  // Set device as a Wi-Fi Station
  WiFi.mode(WIFI_STA);
  WiFi.disconnect();
  Serial.println(WiFi.macAddress());

  // Init ESP-NOW
  if (esp_now_init() != 0) {
    Serial.println("Error initializing ESP-NOW");
    return;
  }
  
  // Once ESPNow is successfully Init, we will register for recv CB to
  // get recv packer info
  esp_now_set_self_role(ESP_NOW_ROLE_SLAVE);
  esp_now_register_recv_cb(OnDataRecv);
  Serial.println("");
  Serial.println("Running");
}

void loop() {
  
}