The two Arduinos communicate with two ENCJ2860s over an Ethernet cable (needs to be a crossover for a direct run). Messages/packets are sent over UDP.
Messages begin with a 1 byte ID that determines the type of message.
| ID | purpose |
|---|---|
| 0b00 | |
| 0b01 | ping? (todo) |
| 0b10 | controller status |
| 0b11 | robot status |
Messages also contain a timestamp from millis. As of current, it's not needed as packets always seem to arrive in the proper order.
The rest of the message body is a struct determined by the ID.