diff options
Diffstat (limited to 'protocol.md')
| -rw-r--r-- | protocol.md | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/protocol.md b/protocol.md index f5bb0cc..d41b00f 100644 --- a/protocol.md +++ b/protocol.md @@ -25,8 +25,8 @@ is converted to a single `0xff` on the receiving end, so these duplicated bytes and the starting byte don't count towards message length. opcodes are picked sequentially, but the direction bit (LSB) is reserved to -indicate a transfer from robot to client. this means that the opcode for a -sensor data request would be `0x12`, but the response opcode would be `0x13`. +indicate a transfer from robot to client (`tx`). this means that the opcode for +a sensor data request would be `0x12`, but the response opcode would be `0x13`. these opcodes are stored as enum constants inside consts.h for code readability. @@ -54,6 +54,9 @@ a double stroke arrow means that the command can be initiated from either the robot or the client, while a single arrow indicates a request-response structure. +in *both* the robot and client code `r <-- c` is referred to as `rx` and `r +--> c` as `tx` (from the *robots* view). + ### PING #### ping (`r <=> c`) (2 bytes) |