diff options
Diffstat (limited to 'protocol.md')
| -rw-r--r-- | protocol.md | 11 |
1 files changed, 7 insertions, 4 deletions
diff --git a/protocol.md b/protocol.md index bc6a8c0..9c45f56 100644 --- a/protocol.md +++ b/protocol.md @@ -66,9 +66,11 @@ in *both* the robot and client code `r <-- c` is referred to as `rx` and `r |`uint8_t`|opcode (`0x00 + 0` or `0x00 + 1`)| |`uint8_t`|ping id| -**ping** sends back an identical message either way with the direction bit -toggled. _ping id_ is a random 8-bit value that makes sure the same ping -doesn't keep bouncing back and forth indefinitely. +**ping** sends back an identical message either way with the **same** direction +bit. _ping id_ is a random 8-bit value that identifies the ping message. this +is the only command that makes either the robot or client send a message with +an opcode not matching the respective sender. the direction bit indicates which +device initiated the ping message. ### EXPT @@ -297,7 +299,7 @@ packet. requests robot info -#### robot info response (`r --> c`) (41 bytes) +#### robot info response (`r --> c`) (42 bytes) |type|description| |-:|-| @@ -308,6 +310,7 @@ requests robot info |`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)| +|`uint8_t`|current mode code| robot info response |