Serial Communication Protocol
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.||
Map
User(Robot) sends message “MAP #B #F” MILES responds by sending mao corresponding to building and floor specified.
Ex:
Robot:
MAP 37 4
MILES:
Sends 2D map .pgm file
"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 out localization alogrithm and continues to send at 5 Hz. User(Robot) can send message “LSTOP” to stop MILES from sending messages --Brandhaw (talk) 17:43, 22 April 2015 (EDT)
