From a08ed6c5a8e0b4ea950e7b97a7c6f22b61c9dc18 Mon Sep 17 00:00:00 2001
From: Sam Hos <samhos2006@hotmail.com>
Date: Tue, 18 Feb 2025 15:45:29 +0100
Subject: [PATCH] explanation intergration ESPNow into drone code

---
 .../week_4_programming/programming.md         | 31 +++++++++++++++++++
 1 file changed, 31 insertions(+)

diff --git a/docs/Assignments/week_4_programming/programming.md b/docs/Assignments/week_4_programming/programming.md
index 43ffdc7..421ca5f 100644
--- a/docs/Assignments/week_4_programming/programming.md
+++ b/docs/Assignments/week_4_programming/programming.md
@@ -658,6 +658,37 @@ Result of bridging ground and the antenna. Sadly didn't work. After that I grabb
 
 Now I can start intergrating the code into the drone driver.
 
+The first thing I did is add the correct libraries at the top of the file. So it looks like this now
+
+```cpp
+#include <Arduino.h>
+#include <SparkFun_BNO080_Arduino_Library.h>
+#include <PWMServo.h>
+#include <esp_now.h>
+#include <WiFi.h>
+```
+
+After that I added my own ESPNow define so I could use that later on in the code. I want the code to stay variable and user specified so thats why im continuing the way it was made. 
+
+![alt text](image-29.png)
+
+After that I added the global variables for the ESPNow protocol.
+
+![alt text](image-30.png)
+
+Then I uncommented `RadioSetup()` again so it could be used again and I added a case for my ESPNow protocol.
+ ![alt text](image-31.png)
+
+
+In the PWM receive function I added an additional case so my PWM values actually get intergrated into the code.
+
+![alt text](image-32.png)
+
+At the end of the program I added the ESPNow Initialisation function and the callback function for when the data is received.
+
+![alt text](image-33.png)
+
+When I comppile it now it should work.
 
 ## Sources
 ### Code