Difference between revisions of "Serial Communication Protocol"
| Line 7: | Line 7: | ||
Ends the send with '''<END>''' | Ends the send with '''<END>''' | ||
| − | + | ||
'''Ex''': | '''Ex''': | ||
'''Robot''': | '''Robot''': | ||
| − | MD 37 4 | + | |
| + | <code>MD 37 4</code> | ||
'''MILES''': | '''MILES''': | ||
| − | x: 1||y: 10||Location: Lofaro Labs||Description: The laboratory of Dr. Lofaro that his senior design students and other robotics students use.|| | + | <code>x: 1||y: 10||Location: Lofaro Labs||Description: The laboratory of Dr. Lofaro that his senior design students and other robotics students use.|| |
x: 10||y: 1||Location: Elevator||Description: The center 4th floor elevator.|| | x: 10||y: 1||Location: Elevator||Description: The center 4th floor elevator.|| | ||
x: 15||y: 15||Location: Room 4402||Description: This is Professor Someones Room.|| | x: 15||y: 15||Location: Room 4402||Description: This is Professor Someones Room.|| | ||
| + | <END> | ||
</code> | </code> | ||
| + | |||
| Line 29: | Line 32: | ||
MILES responds by sending map corresponding to the building and floor specified. | MILES responds by sending map corresponding to the building and floor specified. | ||
| − | + | ||
'''Ex''': | '''Ex''': | ||
'''Robot''': | '''Robot''': | ||
| + | <code> | ||
MAP 37 4 | MAP 37 4 | ||
</code> | </code> | ||
| − | + | ||
'''MILES''': | '''MILES''': | ||
| − | Sends 2D map .pgm file | + | <code> |
| + | Sends 2D map .pgm file line by line | ||
</code> | </code> | ||
| Line 48: | Line 53: | ||
MILES responds by sending the current location calculated by our Localization algorithm | MILES responds by sending the current location calculated by our Localization algorithm | ||
| − | + | ||
'''Ex''': | '''Ex''': | ||
'''Robot''': | '''Robot''': | ||
| + | <code> | ||
LONCE | LONCE | ||
| + | </code> | ||
'''MILES''': | '''MILES''': | ||
| + | <code> | ||
X: %f||Y: %f||z:%d||O:%f | X: %f||Y: %f||z:%d||O:%f | ||
</code> | </code> | ||
Revision as of 14:59, 27 April 2015
Metadata Format:
User(Robot) sends message: “MD #B #F”
MILES responds by sending contents of metadata file corresponding to building and floor specified line by line.
Ends the send with <END>
Ex:
Robot:
MD 37 4
MILES:
x: 1||y: 10||Location: Lofaro Labs||Description: The laboratory of Dr. Lofaro that his senior design students and other robotics students use.||
x: 10||y: 1||Location: Elevator||Description: The center 4th floor elevator.||
x: 15||y: 15||Location: Room 4402||Description: This is Professor Someones Room.|| <END>
Map
User(Robot) sends message “MAP #B #F”
MILES responds by sending map corresponding to the building and floor specified.
Ex:
Robot:
MAP 37 4
MILES:
Sends 2D map .pgm file line by line
Location Once:
User(Robot) sends message “LONCE”
MILES responds by sending the current location calculated by our Localization algorithm
Ex:
Robot:
LONCE
MILES:
X: %f||Y: %f||z:%d||O:%f
HINT: O stands for Orientation
Location Auto:
User(Robot) sends message “LAUTO”
MILES responds by sending the current location calculated by our localization algorithm and continues to send at 5 Hz.
User(Robot) can send message “LSTOP” to stop MILES from sending messages
