| Prefix | To Destination |
|---|---|
| p | PC (Algorithm) |
| a | Arduino |
| b | Bluetooth |
- Control Command to Arduino (with prefix a)
| Prefix | Direction | Amount |
|---|---|---|
| a | F (move forward) | uint_8 |
| a | B (move backward) | uint_8 |
| a | C (rotate clockwise) | uint_8 |
| a | A (rotate anti-clockwise) | uint_8 |
| a | S (Wait For Start State -> Fetch Serial State) | NA |
| a | Z (calibrate N grids away) | uint_8 |
Example:
aF5C1: Move forward 5 grids, then immediately rotate clockwise for 90 degree.
- Sensor Feedback to PC (with prefix p)
Special Characters:
'O' Reading out of bound- '9' Reading out of bound @voducvan
| Byte | Meaning | Range |
|---|---|---|
| 0 | 'p' for PC as Destination | NA |
| 1 | IR Short Front Left | 1-4, 9 |
| 2 | IR Short Front Center | 1-4, 9 |
| 3 | IR Short Front Right | 1-4, 9 |
| 4 | IR Left Side | 1-6, 9 |
| 5 | Ultrasonic Left Side | 0, 1 |
| 6 | Ultrasonic Right Side | 0, 1 |
| 7 | '\0' |
Example:
p123401:
