diff options
| author | lonkaars <loek@pipeframe.xyz> | 2022-05-26 13:04:35 +0200 |
|---|---|---|
| committer | lonkaars <loek@pipeframe.xyz> | 2022-05-26 13:04:35 +0200 |
| commit | f7387fd6af14a740f474620555de379bc9ba69db (patch) | |
| tree | 4e98ac46f97dc7dbdb007b5e1282cd9a727080cb /protocol.md | |
| parent | 4487ce5c3083d95fad26ebca790b0f849821d736 (diff) | |
forward errors to sercomm (implement expt command
Diffstat (limited to 'protocol.md')
| -rw-r--r-- | protocol.md | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/protocol.md b/protocol.md index 915fa65..7084d14 100644 --- a/protocol.md +++ b/protocol.md @@ -33,7 +33,7 @@ readability. |code|name|implemented|directions|full name| |--:|---|:-:|:-:|---| |`0x00`|[PING](#ping)|yes|`r <=> c`|<u>ping</u> -|`0x02`|[EXPT](#expt)|no|`r --> c`|<u>ex</u>ce<u>pt</u>ion +|`0x02`|[EXPT](#expt)|yes|`r --> c`|<u>ex</u>ce<u>pt</u>ion |`0x04`|[MODE](#mode)|no|`r <=> c`|<u>mode</u> |`0x06`|[SPED](#sped)|no|`r <-- c`|<u>spe</u>e<u>d</u> |`0x08`|[DIRC](#dirc)|no|`r <-- c`|<u>dir</u>ect <u>c</u>ontrol @@ -294,10 +294,10 @@ requests robot info |-:|-| |`uint8_t`|opcode (`0x14 + 1`)| |`uint8_t[32]`|build string| -|`uint8_t`|errcatch module cycle time (ms)| -|`uint8_t`|io module cycle time (ms)| -|`uint8_t`|sercomm module cycle time (ms)| -|`uint8_t`|modes module cycle time (ms)| +|`uint8_t`|exponential moving average errcatch module cycle time (ms)| +|`uint8_t`|exponential moving average io module cycle time (ms)| +|`uint8_t`|exponential moving average sercomm module cycle time (ms)| +|`uint8_t`|exponential moving average modes module cycle time (ms)| |`uint32_t`|total robot uptime (s)| robot info response |