protocol.md

Base Protocol SimplePacketComs

Protocol Definition

SimplePacketComs Theory of Operation

Our firmware uses an HID implementation built on the Adafruit TinyUSB stack.

ServoServer

Set the gripper value

NOTE this uses one byte as the value, not a float.

	ID	byte
downstream Bytes	4	1
Contents downstream	1962	Gripper value 0-180
upstream Bytes	4	---
Contents upstream	1962	---

Set Motor Setpoints With Time

Set the setpoint of the Motors with interpolation. Time is in milliseconds. The interpolation mode determines the trajectory the motor takes. Positions are in degrees.

	ID	float	float	float	float	float
downstream Bytes	4	4	4	4	4	4
Contents downstream	1848	mS duration of move	interpolation mode 0=linear,1=sinusoidal	motor 1 target position	motor 2 target position	motor 3 target position
upstream Bytes	4	---
Contents upstream	1848	---

Get Positions and Setpoint

	ID	float	float	float	float	float	float
downstream Bytes	4	---
Contents downstream	1910	---
upstream Bytes	4	4	4	4	4	4	4
Contents upstream	1910	motor 1 Setpoint	motor 1 position	motor 2 Setpoint	motor 2 position	motor 3 Setpoint	motor 3 position

ERROR packet

If you send an ID that the device doesn't understand you will get this packet back. It happens when you send the wrong ID number, or forget to attach servers in the firmware to the coms stack.

	ID
downstream Bytes	4	---
Contents downstream	unknown by server	---
upstream Bytes	4	---
Contents upstream	99	---