It all gets a bit Meshy


Persistance pays off , ESP8266 Mesh network begins to work, this transmits sensor data from the Time of Flight Laser distancing module and the Compass module to the basestation rover.

The latest Plan (software Workio) :-

1.ProMini + TOF + Compass +ESP8266 sits on top of the 360° rotating Stepper motor (can be any speed literally (just limited up to the max that the TOF and compass can read data))
2.The ESP8266(AKA flying stepper ESP)  is linked to a second ESP8266 (AKA Basestation ESP) connected to the Rover mainboard (AKA ESP32Stepper)
3. Because of extensive tests I could not link the flying stepper ESP directly to the ESP32Stepper because of time_ing issues (maybe this changes when I have more experience of Mesh networks)
4. The Mesh network forms a kind of Serial Tube where you can pass sensor data in the form of packets between nodes.
5. The cool concept of this approach is that you can add as many extra nodes (ESP8266/ESP32)'s as you wish... ie. you can set up and talk to multiple rovers on the same mesh network, or have all rovers share data to a central control centre.

6. Data tranfer speed 115200 Baud

7. Note :- The Mesh network is Local network i.e. does not rely on being tied to a Wifi Router.

In the above image you might pick out the two blue LEDS of the ESP8266's (these flash in sync when mesh network is 'Live').
On the Rotating Stepper you see on top of the rover is the LIDAR / Compass module / Batteries (eventually the promini&ESP8266 with snuggle up together in a PLA cage).

The code_ing flow direction is this :-
1.The spinning LIDAR will take distance measurement.
2.The spinning Compass Module will take a Heading reading at the same time.
3.This means that I can place the distance reading into and array ie. threesixty[Heading]=Distance;
4.Then on a timed payload loop the array is channelled out onto the Mesh network to be picked up by the basestation.
5.Another nice factor is .... the spinning LIDAR unit can spin at any speed it wishes ( as each distance reading is stamped with a compass heading).

Below some of the data stream packets....
Data construct :- first byte is the compass direction followed by a block of 32bytes of Distance readings.... 8 times.

i.e. 192,10,40,50,0........etc (Heading byte +32 bytes data)

Start compass Heading of packet(7) is 192 followed by its data > 10(192),40(193),50(194),0(195).....etc

....so now back to the harware, shoehorning the the bits into the spinning turret.