diff options
Diffstat (limited to 'protocol.md')
| -rw-r--r-- | protocol.md | 22 |
1 files changed, 18 insertions, 4 deletions
diff --git a/protocol.md b/protocol.md index b627913..4139a22 100644 --- a/protocol.md +++ b/protocol.md @@ -25,10 +25,10 @@ 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 (`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 shared/protocol.h for code -readability. +indicate a transfer from robot to client (`tx`) (with exception of the +[PING](#ping) command). 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 shared/protocol.h for code readability. |code|name|implemented|directions|full name| |--:|---|:-:|:-:|---| @@ -46,6 +46,7 @@ readability. |`0x16`|[DISP](#disp)|no|`r <-- c`|<u>disp</u>lay control |`0x18`|[PLAY](#play)|no|`r <-- c`|<u>play</u> midi |`0x1a`|[CLED](#cled)|no|`r <-- c`|<u>c</u>ontrol <u>led</u>s +|`0x1c`|[TARQ](#tarq)|no|`r <-- c`|<u>t</u>arget <u>a</u>rea <u>r</u>e<u>q</u>uest the DISP, PLAY, and CLED commands have low implementation priority, and should be considered extra features @@ -321,4 +322,17 @@ robot info response - DWBM display write bitmap --> +### TARQ + +#### set target area (`r <-- c`) (1 byte) + +|type|description| +|-:|-| +|`uint8_t`|opcode (`0x1c + 0`)| +|`uint8_t`|target area| + +_target area_ is one of: +- 0: maze +- 1: grid +- 2: charging station |