working version

DroneReceiver.ino

@@ -7,6 +7,10 @@ unsigned long startTime, delayTime = 2000;  // in milliseconds
 int val = 0;
 bool gotSerialData = false;
 
+int currentMsgIndex = 0;
+
+unsigned long lastReceivedMessage = 0;  // Variable to store the previous time
+unsigned long maxMessageDelay = 3000;
 
 void setup() {
   Serial.begin(115200);
@@ -31,19 +35,72 @@ void setup() {
   drone.setPinESC(8, MotorPosition::BL);
 
 
-  Serial.println(String("Loop starts in 2 seconds ..."));
-  delay(2000);
+  lastReceivedMessage = millis();
+  Serial.println(String("Loop starts now"));
 }
 
 void loop() {
-  String data = drone.radio.receive();
-
-  if (data.length() > 0) { 
-    Serial.println(data);
+  String textToSend = "Alive";  
+  switch(currentMsgIndex) {
+    case 1:
+      textToSend = drone.getSpeedFromMotor(BL);
+      break;
+    case 2:
+      textToSend = drone.getSpeedFromMotor(BR);
+      break;
+    case 3:
+      textToSend = drone.getSpeedFromMotor(FL);
+      break;
+    case 4:
+      textToSend = drone.getSpeedFromMotor(FR);
+      break;
   }
 
-  delay(50);
+  if (currentMsgIndex > 4) {
+    currentMsgIndex = 1;
+  } else {
+    currentMsgIndex ++;
+  }
 
+  // Serial.println(textToSend);
+  String recText = drone.radio.receiveAck(textToSend);
+
+  if (recText.length() > 0) { 
+    lastReceivedMessage = millis();
+    // Serial.println(recText);
+
+    const char delimiter[] = "|";
+    char* token = strtok(recText.c_str(), delimiter);
+    while (token != NULL) {
+      // read the token here
+      String command = String(token);
+      if (command == "Stop") {
+          drone.stop();
+      } else if (command == "Up") {
+          drone.accelerate();
+      } else if (command == "Down") {
+          drone.decelerate();
+      }
+      token=strtok(NULL, delimiter);
+    }
+  } else {
+    // if no message is received then slow down the motors
+    if (millis() - lastReceivedMessage >= maxMessageDelay) {
+      Serial.println("Lost Connection");
+      drone.stop();
+    }
+  }
+
+
+
+  drone.update();
+
+  delay(10);
+  // delay(1000);
+}
+
+void manualMotorSpeed() {
+  
   if (Serial.available() != 0) {
     int tmp = Serial.parseInt();
     if (tmp != 0) {
@@ -66,11 +123,5 @@ void loop() {
     startTime = micros();
     gotSerialData = false;
   }
-
-  // drone.update();
-
-  delay(10);
-  // delay(1000);
 }
 
-