Communication between MCU, Phone and Control Panel

	B	C	D	E	F	G	H	I	J	K
1	Phone to Server (using SFS ExtensionRequest protocol)
2		Request	Message	Variable Type in AS3 (types used in SFSObject, C++)	Permissible Values	Units	How to Display	Notes		Named Range LInks
3										Commands
4		Robot Login	robotmemberlogin					Not yet implemented.		Control_Panel_to_Phone
5										Coordinates
6										Phone_to_Control_Panel
7	Control Panel (Pilot) to Phone (using SFS PrivateMessageRequest protocol)									Telemetry
8		Request	Message	Variable Type in AS3 (types used in SFSObject, C++)	Permissible Values	Units	How to Display	Notes
9
10		Move	mv	MoveProps*			L and R Motor Speed Requested indicators	Robot will map requested 0 to 255 speeds to safe range between dcMin and dcTop
11		Motor Current Limit	mcl	uint (byte, uint8_t) s	1 to 128		Horizontal Slider near Motor Controls	step value "N" resulting in "I" mA limit according to formula I = 23950 / ( 100 * N / 128 ) ^ 0.977 which is displayed to user
12		Steering Trim	stt	Number (float) t	-1.0 (left) to 1.0 (right)		Horizontal Slider near Motor Controls	Sign used to determine direction. In the case of skid steering, this means which motor's duty cycle request is to be scaled down. The effect (and the data tip user feedback) is interpreted on a simple y=x^2 parabolic exponential scale, from 100% of Left Trim at far left to Zero in the center to 100% Right Trim at far right. Thus the adjustment near the center is finer than at the extremes, e.g., input of ±0.1 → output of 0.01, ±0.2→0.04, ±0.5→0.25, etc.
13
14		Camera Move	cm	CameraMove*
15		Camera Move Home	ch
16		Camera Move Reset	cr
17		Camera View Click	cvk	ShortXY*	Command ID = 0x1B			See notes in Phone to MCU section
18
19		Camera Config	cameraconfig	CameraConfig*				Test this configuration and report
20		Camera Config Adjust for Motion	cameraconfigadjust	Boolean (boolean) b				Toggles whether Robot is to switch to Motion configuration when moving
21		Camera Config Default	cameraconfigdef	CameraConfig*				Store this configuration as default
22		Camera Config for Motion	cameraconfigmotion	CameraConfig*				Store this configuration for use in motion
23		Camera FPS Poll Interval	camerafpspollmsec	int (short) m = msecs
24		Camera Stream Restart	camerarestart
25
26		Custom Command	cu	ArduinoCommand*				User-configurable on Phone (notes in Phone to MCU section)
27
28		Flashlight On/Off	fl	Boolean (boolean) b
29		Time Stamp	ping	Ping*
30
31		EMS Acknowledge	emsack
32		Sleep	sleep
33		Wakeup	wake
34		Exit	exit
35
36		Waypoint Navigation Off	wp0
37		Waypoint Navigation On	wp1
38		Waypoint	wp	WaypointCoordinates*				[byte array index] descripton [0] = 0x14 (WAYPOINT_COORD) ... See Waypoint Coordinates class below for configuration details
39		Waypoint Delete	wpd	ArduinoCommand*				[byte array index] descripton [0] = 0x1A (WAYPOINT_DELETE) [1] = (unsigned byte) Admin ID
40		Waypoint Move	wpm	WaypointCoordinates*				[byte array index] descripton [0] = 0x19 (WAYPOINT_MOVE) ... See Waypoint Coordinates class below for configuration details
41		Waypoints Clear All	wpca
42		Waypoints List Append	wpla	Serialized vector of WaypointCoordinates* objects				Vector (typed array) of WaypointCoordinates objects. Due to potentially large size if user creates numerous waypoints, this is AMF3-serialized to a zlib-compressed byte array before wrapping in SFSObject.
43		Waypoints List Replace	wplr	Serialized vector of WaypointCoordinates* objects				Vector (typed array) of WaypointCoordinates objects. Due to potentially large size if user creates numerous waypoints, this is AMF3-serialized to a zlib-compressed byte array before wrapping in SFSObject.
44
45
46
47	Control Panel (Copilot) to Server (using SFS ExtensionRequest protocol)
48
49		Pilot Control Request	controlrequest					Not yet implemented. Adds user to request queue	Not yet implemented
50
51	Control Panel (Pilot) to Server (using SFS ExtensionRequest protcol)
52
53		Pilot Control Surrender	controlsurrender					Not yet implemented. Transfers control to next user in the request queue, if any	Not yet implemented
54
55
56
57
58	Commands Phone to MCU (using byte array protocol)							All in this section are wrapped in a command packet: [0] = 0xA5 (COMMAND_PACKET_ID) [1] = Packet Payload Length N (count of Command ID byte and any argument bytes, but not LPC byte) [2] = Command ID ([0] byte of payload) [...] = Argument bytes of payload, if any [N + 2] = LPC (longitudinal parity check)
59		Move	0x01		Speed: 0 to 255 Run Modes: • FORWARD = 0x01 • BACKWARD = 0x02 • BRAKE = 0x03 • RELEASE = 0x04			[byte array index] descripton [0] = 0x01 (MOVE) [1] = (unsigned byte) Left Run Mode [2] = (unsigned byte) Left Speed [3] = (unsigned byte) Right Run Mode [4] = (unsigned byte) Right Speed
60		Camera Move	0x02		Pan and Tilt are in range 0° to 180° for most servos, but we provide 2 bytes for each to allow for those with range of 0° to 360°	°		[byte array index] descripton [0] = 0x02 (CAMERA_MOVE) [1 to 2] = (unsigned short) Pan (degrees) [3 to 4] = (unsigned short) Tilt (degrees)
61		Camera Move Home	0x04					[byte array index] descripton [0] = 0x04 (CAMERA_HOME)
62		Camera Move Reset	0x05					[byte array index] descripton [0] = 0x05 (CAMERA_RESET)
63		Read EEPROM	0x06					[byte array index] descripton [0] = 0x06 (EEPROM_READ) [1 to 2] = (unsigned short) Address [3] = (unsigned byte) Number of Data Bytes to Read
64		Write EEPROM	0x07					[byte array index] descripton [0] = 0x07 (EEPROM_WRITE) [1 to 2] = (unsigned short) Address [3] = (unsigned byte) Number of Data Bytes (N) to Write [4 to 3+N] = Data Bytes
65		Safe Rover	0x08					[byte array index] descripton [0] = 0x08 SAFE_ROVER)
66		Sleep	0x0A					[byte array index] descripton [0] = 0x0A (SLEEP)
67		Wakeup	0x0B					[byte array index] descripton [0] = 0x0B (WAKEUP)
68		Head Light Off	0x0C					[byte array index] descripton [0] = 0x0C (LIGHT_OFF)
69		Head Light On	0x0D					[byte array index] descripton [0] = 0x0D (LIGHT_ON)
70		Ping Interval	0x10	unsigned long	>= 500 ?	ms		[byte array index] descripton [0] = 0x10 (PING_INTERVAL) [1 to 4] = (unsigned long) Ping Interval	Maximum milliseconds expected to ellapse between Pings.
71		Comm Setup	0x10	byte	0x00 = Watchdog Off 0x4E = 1 sec interrupt and system reset mode 0x4F = 2 sec 0x68 = 4 sec 0x69 = 8 sec 0x46 = 1 sec interrupt mode 0x47 = 2 sec 0x60 = 4 sec 0x61 = 8 sec			[byte array index] descripton [0] = 0x10 (COMM_SETUP) [1] = (unsigned byte) Mode ID	Replaced PING_INTERVAL as of 2016-07-28
72		Ping	0x11					[byte array index] descripton [0] = 0x11 (PING)
73		Heading	0x12		0 to 359	°		[byte array index] descripton [0] = 0x12 (HEADING) [1 to 2] = (unsigned short) Heading
74		Current Coordinates	0x13					[byte array index] descripton [0] = 0x13 (CURRENT_COORD) [1 to 8 or 1 to 16] See Waypoint Coordinates class below for configuration details
75		Waypoint Coordinates	0x14					[byte array index] descripton [0] = 0x14 (WAYPOINT_COORD) [1 to 8 or 1 to 16] See Waypoint Coordinates class below for configuration details [9 or 17] = (unsigned byte) Admin ID
76		Waypoints Off	0x16					[byte array index] descripton [0] = 0x16 (WAYPOINTS_OFF)
77		Waypoints On	0x17					[byte array index] descripton [0] = 0x17 (WAYPOINTS_ON)
78		Waypoints Clear All	0x18					[byte array index] descripton [0] = 0x18 (WAYPOINTS_CLEAR)
79		Waypoint Move	0x19					[byte array index] descripton [0] = 0x19 (WAYPOINT_MOVE) [1 to 8 or 1 to 16] See Waypoint Coordinates class below for configuration details [9 or 17] = (unsigned byte) Admin ID
80		Waypoint Delete	0x1A					[byte array index] descripton [0] = 0x1A (WAYPOINT_DELETE) [1] = (unsigned byte) Admin ID
81		Camera View Click	0x1B		x and y are in pixels from upper left corner of pre-transform video stream			[byte array index] descripton [0] = 0x1B (CAMERA_VIEW_CLICK) [1 to 2] = (unsigned short) x (pixels from left) [3 to 4] = (unsigned short) y (pixels from top)
82		Servo Move	0x1C		Servo Index 0 = Servo A Servo Index 1 = Servo B			[byte array index] descripton [0] = 0x1C (SERVO_MOVE) [1] = (unsigned byte) Servo Index [2 to 3] (unsigned short) Servo Position	Reserved, but currently not implemented.
83		Current Limit	0x1D	uint (byte, uint8_t)	Motor Current Limit Step N where 1 <= N <= 128			[byte array index] descripton [0] = 0x1D (CURRENT_LIMIT) [1] = (unsigned byte) Current Limit Step
84		Custom Command	0x40 to 0x5F		As configured			[byte array index] descripton [0] = command ID in range of 0x40 to 0x5F (64 to 95) [1 to ?] = Data as dictated by data type user configured
85
86
87
88	Telemetry MCU to Phone (using byte array protocol)							All in this section are wrapped in a telemetry packet: [0] = 0xCA (TELEMETRY_PACKET_ID) [1] = Packet Payload Length N (count of Telemetry ID byte and any data bytes, but not LPC byte) [2] = Telemetry ID ([0] byte of payload) [...] = Data bytes of payload, if any [N+2] = LPC (longitudinal parity check)
89		Motor 1 Current	0x01 (MOTOR1_CURRENT_ID)					[byte array index] descripton [0] = 0x01 (MOTOR1_CURRENT_ID) [1 to 2] = (unsigned short) Value
90		Motor 2 Current	0x02 (MOTOR2_CURRENT_ID)					[byte array index] descripton [0] = 0x02 (MOTOR2_CURRENT_ID) [1 to 2] = (unsigned short) Value
91		Body Temperature	0x03 (TEMP_SENSOR_ID)					[byte array index] descripton [0] = 0x03 (TEMP_SENSOR_ID) [1 to 2] = (short) Value
92		Ultrasonic Ranger Left	0x04 (RANGE_LEFT_ID)
93		Ultrasonic Ranger Right	0x05 (RANGE_RIGHT_ID)
94		Robot Battery	0x06 (BATTERY_ID)
95		Motor Battery	0x07 (DIRTY_BATTERY_ID)
96		Pan	0x08 (PAN_POSITION_ID)
97		Tilt	0x09 (TILT_POSITION_ID)
98		EEPROM Read Result	0x0A (EEPROM_RESPONSE_ID)					[byte array index] descripton [0] = 0x0A (EEPROM_RESPONSE) [1 to 2] = (word) Address [3] = (unsigned byte) Number of Data Bytes (N) to Follow [4 to 3+N] = Data Bytes
99		Emergency	0x0B (EMERGENCY_ID)		Emergency Codes: 0x01 Watchdog Timeout (data byte always 0x00)			[byte array index] descripton [0] = 0x0B (EMERGENCY_ID) [1] = (unsigned byte) Emergency Code [2] = (unsigned byte) Ancillary data where needed or 0x00
100		Command Dump	0x0D (COMMAND_DUMP_ID)					Echoes Command Received (in debug mode only)