motors.md

Motor/Servo Commands

Motor/Servo Control Request

A packet for changing the current output values.

• Control values should not change between requests.
• Sent frequently (up to 20Hz).
• The motors and servos keys are optional.
• The keys within each dictionary are optional.
• motors.hex is an integer from [-32768,32767]
• servos.id is an integer from [0,20000]
• Only respond if there were errors: halts the surface.

{
  "uuid": "967cb0d7-678c-4928-962c-ca88398dfc11",
  "motors": {
    "0x29": 0,
    "0x2d": 1000
  },
  "servos": {
    "0": 500,
    "2": 1400
  }
}

{
  "uuid": "967cb0d7-678c-4928-962c-ca88398dfc11",
  "errors": [
    "write failed to 0x2d: address invalid"
  ]
}

Motor/Servo Status Request

A packet for requesting all state information.

• Keeps the surface in sync with the robot.
• Sent infrequently (~2Hz).

{
  "uuid": "967cb0d7-678c-4928-962c-ca88398dfc11",
  "status": true
}

{
  "uuid": "967cb0d7-678c-4928-962c-ca88398dfc11",
  "motors": {
    "0x29": 0,
    "0x2a": 4400,
    "0x2b": 1000,
    "0x2c": 4400
  },
  "servos": {
    "0": 500,
    "1": 720,
    "2": 1400
  }
}