Difference between revisions of "Serial Communication Protocol"
From Lofaro Lab Wiki
| Line 12: | Line 12: | ||
'''Robot''': | '''Robot''': | ||
| − | + | MD 37 4 | |
'''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.|| | |
| − | 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.|| | ||
| + | <END> | ||
| − | |||
| − | |||
| − | |||
| Line 28: | Line 28: | ||
'''Map''' | '''Map''' | ||
| − | User(Robot) sends message '''“MAP #B #F”''' | + | User(Robot) sends message: '''“MAP #B #F”''' |
| − | MILES responds by sending map corresponding to the building and floor specified. | + | MILES responds by sending map corresponding to the building and floor specified. |
| Line 36: | Line 36: | ||
'''Robot''': | '''Robot''': | ||
| − | + | ||
| − | MAP 37 4 | + | MAP 37 4 |
| − | + | ||
'''MILES''': | '''MILES''': | ||
| − | + | ||
| − | Sends 2D map .pgm file line by line | + | Sends 2D map .pgm file line by line |
| − | + | ||
| Line 57: | Line 55: | ||
'''Robot''': | '''Robot''': | ||
| − | + | ||
| − | LONCE | + | LONCE |
| − | + | ||
'''MILES''': | '''MILES''': | ||
| − | + | ||
| − | X: %f||Y: %f||z:%d||O:%f | + | X: %f||Y: %f||z:%d||O:%f |
| − | + | ||
Latest revision as of 15:02, 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
