Program Flow

Basic Workflow

Functions in the code

void connect()   Connects to the Wifi and MQTT broker

void messageReceived()   Callback function if MQTT message is recieved

void doCommunication()   Function running on second core of esp32 to manage WiFi and communicate with MQTT broker

void pid()   PID algorithm function, takes input and output variables. This funcrion updates the output variable after calculating the PID.

int getRange()   Get distance from ultrasonic sensor, takes sensor pin number as input

void checkObstruction()   Thread function which runs continuously and cheaks for any obstruction in the path and update the variable.

void connect()   Connects to the Wifi and MQTT broker

void preTransmission()  
void postTransmission()   Set MAX485 to recieve or transmitt mode

void startButton()   Callback function to run if Green Button is pressed