roverctl
Program to control the Knurów rover.
Use --help to learn more about it.
Frame formats
We use our own package frames to construct frames we send through (USART? SPI?).
Example frames below.
Go commands
MT+G${S}#${CRC}
where:
-
S = speed, signed byte (from 0 to 255)
-
CRC - calculated simple 8-bit CRC checksum of frame's all bytes (except the last byte, which is the CRC itself)
G indicates that this is a GO command
Turn commands
MT+T${D}#${CRC}
where:
-
D - degrees, signed byte (from 0 to 255)
-
CRC - calculated simple 8-bit CRC checksum of frame's all bytes (except the last byte, which is the CRC itself)
T indicates that this is a TURN command
Future
In the future, it might just serve as a client to roverd. Similar architecture is used by Docker