The firmware expects a set of instructions, through a websocket buffer.
All instructions can accept arguments as bytes (the bytes after the Op Code byte). The length of arguments may vary with different instructions.
This is what a command looks like from a buffer
| Op Byte | Arg1 | ArgX |
|---|---|---|
0x7F |
0x01 |
... |
This doc file sources from command.h where the enum definition for Op codes can be found
Some core bindings are missing, since they were not used durring development.
Set the mode of a GPIO pin
Arguments(1):
- Mode of the pin (see modes)
Response(2):
Ok
Example:
0x7F 0x03
write to a GPIO pin
Arguments(1):
- State of the Pin
Response(2):
Ok
Example:
0x80 0x01
Control motors through PWM
Arguments(2):
- Left motor percentage from -100 to 100
- Right motor percentage from -100 to 100
Response(2):
Ok
Example:
0xC0 -50 50
Get a distance value from the Ultrasound sensor
Response(2):
- MSByte of distance value
- LSByte of distance value
Example:
0xD0