I2C Communication

Master to Slave Communication

The master sends data to slaves, including an 8-bit packet ID. Each slave uses this ID as an index into its callback function array to determine which function to execute.

Slave Return

The slave responds with a message containing an 8-bit packet ID identifying the slave. The master uses this ID to select the corresponding callback function. By default, the returned struct includes angle, velocity, voltage, and a status byte.

The struct can be customized in Feelix_MS_package.h, but it must be the same for both master and slave.

I2C Setup Master

The examples use the DOIT ESP32 DEVKIT V1 as the master. The ESP32 is connected to the Feelix motors through the Feelink board.

Default I2C pins on DOIT ESP32 DEVKIT are SCL GPIO22 SDA GPIO21 Alternatively you can use SCL GPIO32 SDA GPIO33

I2C Setup Slaves

The slaves can be connected with JSH cables to the Feelink board.