jarekparal / 3picontrol Goto Github PK

3piControl
=================
...is program for 3pi robot (http://www.pololu.com/catalog/product/975).
Main purpose is controlling 3pi via bluetooth with smartphone/transmitter/etc.

Protocol
=================
Program currently handles only one packet with following structure:

/* header */
0xFF // start byte
0x01 // device id
0x05 // length
0x04 // opcode
/* data */
int16_t right_speed; // -255 to 255
int16_t left_speed;  // -255 to 255

Output
=================
It sends back only text, in initial state it is voltage:
\rXXXX mv 

When you press button A, it sends values from sensors:
XXXX XXXX XXXX XXXX XXXX \n

Buttons
=================
Button A - switches between voltage and sensors info
Button B - switches the soft acceleration mode
Button C - sensors calibration