added sources

docs/Assignments/week_4_programming/programming.md

@@ -364,9 +364,9 @@ During coding I realized this could be done way easier and simpler. So this is m
     ```
 This code works and makes any value under 80 automatically 80. And keeps all values above the original value.
 
-I've cleaned it up a bit and turned it into a function so I don't have to copy paste code later on and so it stays clean.
+I've cleaned it up a bit and turned it into a function so I don't have to copy paste code later on so it stays cleaner.
 Result:
-??? example
+??? Code
     ```cpp
     #include <Arduino.h>
     // declarations
@@ -384,10 +384,55 @@ Result:
     void loop()
     {
 
-      Serial.println(normalizePot(potPin1, 80));
+      Serial.println(normalizePot(potPin1, 80)); //print the output of the function directly
     }
 
-    int normalizePot(int pin, int minValue)
+    int normalizePot(int pin, int minValue) //function
+    {
+      int pot = analogRead(pin); //read the pin
+
+      if (pot <= minValue) //if the value is below 80 return 80 and go back to the loop
+      {
+        return 80;
+      }
+      else //else return the original value and return to the loop function
+      {
+        return pot; 
+      }
+    }
+    ```
+
+Now I wanna map the potmeter values as if it is a PWM signal. The PWM signal for this script goes from 1100 to 2200 as seen earlier in the documentation. I wanna be more on the safe side and I'm going for 1400 - 2000 range so I don't accidentally trigger the failsafe.
+
+??? Code
+    ```cpp
+    #include <Arduino.h>
+    // declarations
+    int normalizePot(int pin, int minValue);
+    int mapPot(int normalizedValue);
+
+    // constants
+    const int POTPIN1 = 0;
+    const int MAXPWMVALUE = 1400;
+    const int MINPWMVALUE = 2000;
+
+    void setup()
+    {
+      Serial.begin(9600);
+      pinMode(POTPIN1, INPUT);
+    }
+
+    void loop()
+    {
+
+      Serial.println(mapPot(normalizePot(POTPIN1, 80))); //call normalizePot and put the output into mapPot then print it
+    }
+
+    int mapPot(int normalizedValue){
+      return map(normalizedValue, 80, 4095, MINPWMVALUE, MAXPWMVALUE); //map the normalized value to the PWM range
+    }
+
+    int normalizePot(int pin, int minValue) //normalize the pot value to a range of 80 to 4095 instead of 0 to 4095 because the potmeter is at lower values not accurate
     {
       int pot = analogRead(pin);
 
@@ -401,3 +446,25 @@ Result:
       }
     }
     ```
+
+This is my new code. It maps the values from 80 to 4095 to a range of 1400 to 2000.
+
+#### Connection between the controller and the flight controller
+Now that I have PWM values the driver can understand I wanna test if the driver works and if I can get readings from the driver. Because it needs some kind of controller script to start. For the wireless communication I wanna use ESPNOW, because the protocol works without internet. The 2 esp's directly connect to each other. The only downside is that you're stuck with esp's because the protocol only works on esp's.
+
+I am following [this](https://randomnerdtutorials.com/esp-now-esp32-arduino-ide/) tutorial to create an ESPNOW connection.
+
+
+
+
+## Sources
+### Code
+* [espnow](https://randomnerdtutorials.com/esp-now-esp32-arduino-ide/)
+* [arduino map function](https://docs.arduino.cc/language-reference/en/functions/math/map/)
+* [BNO085 library examples](https://github.com/sparkfun/SparkFun_BNO080_Arduino_Library/tree/main/examples)
+* [PlatformIO espC6](https://wiki.seeedstudio.com/xiao_esp32c6_with_platform_io)
+* [ESC calibration and PWM](https://ardupilot.org/copter/docs/esc-calibration.html)
+
+### Parts
+* [PotSlider](https://nl.aliexpress.com/item/1005006733220962.html) 
+* [espC3 supermini](https://nl.aliexpress.com/item/1005008125438785.html)