This project is based heavily on the wonderful sumobot-jr project. Thanks to the maintainers for some awesome resources!
All messages are 16 bytes, which is under the maximum size of 20 for a single message payload over Bluetooth LE.
They are in this format:
| Bytes | Section |
|---|---|
| 1 | Start Byte |
| 1 | Message ID |
| 12 | Message Data |
| 1 | Parity Byte |
| 1 | End Byte |
Start byte is 0xAB End byte is 0xEF
Message ID: 1 (0x01) Controls the motors individually.
Message Format
| Bytes | Section |
|---|---|
| 1 | Start (0xAB) |
| 1 | Message ID (0x01) |
| 4 | Left Motor |
| 4 | Right Motor |
| 4 | Padding (Zeroes) |
| 1 | Parity Byte |
| 1 | End (0xEF) |
Left Motor and Right Motor are 4-byte unsigned ints, with a range from 0 to 1024. 512 is resting, 0 is full reverse, and 1024 is full forward.
Message ID: 2 (0x02) Toggles a general usage GPIO pin high or low.
Message Format
| Bytes | Section |
|---|---|
| 1 | Start (0xAB) |
| 1 | Message ID (0x02) |
| 1 | Button ID |
| 1 | GPIO Status |
| 10 | Padding (Zeroes) |
| 1 | Parity Byte |
| 1 | End (0xEF) |
GPIO Status is 0 if low, 1 if high.