Working Environment

Basic Workflow

Functions in the code

Tools:

Enveronment: void connect()   Connects to the Wifi and MQTT broker PlatformIO

Framework: void messageReceived()   Callback function if MQTT message is recieved Arduino

Code voideditor: Visual doCommunication()Studio   Function running on second core of esp32 to manage WiFi and communicate with MQTT broker Code

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

Hardware:

Mcu: intESP 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 32