Packet Format

Data types

• bool: true/false
• uint4: a single hex digit
• uint8: 2 hex digits
• uint16: 4 hex digits
• uint32: 8 hex digits

General packet format

• SrcID: uint8 character robot discriminator, ff for multicast and fe for server
• DestID: uint8 character robot discriminator, ff for multicast and fe for server
• SeqID: uint16 packet sequence ID, rolls over
• PacketType: uint8 character packet type identifier
• Contents: Whatever goes in the packet, up to 87 bytes

:PacketType[,CONTENTS];

Packet types

00 NOTHING
    No-op packet.

01 CLIENT_HELLO
    Client sends this on connection to server.

    String macAddress

02 SERVER_HELLO
    TBD

03 PING_SEND
    Server sends this to ping client.

04 PING_RESPONSE
    Client sends this to respond to server ping.

05 QUERY_VAR
    TBD

06 QUERY_RESPONSE
    TBD

07 INFORM_VAR
    TBD

08 SET_VAR
    TBD

09 TURN_BY_ANGLE
    Server sends this to client to turn the robot by a specified angle, in radians.

    double angle

0a DRIVE_TILES
    Server sends this to client to drive the robot forward/backward, in tile units.

    double tileDistance

0b ACTION_SUCCESS
    Client sends this to server to indicate the action completed successfully.

0c ACTION_FAIL
    Client sends this to server to indicate the action failed.

    String reason

0d DRIVE_TANK
    Server sends this to client to control the left and right motors individually.

    float left
    float right

0e ESTOP
    Server sends this to client to stop motors on the robot.