Protocols

OUTDATED - CHECK THE README INSIDE THE REPO FOR NEWER PROTOCOL

Serial Protocol

|S|Y|N|C|payload length|payload|...|(n bytes)|XOR Checksum|

• 4 bytes: "SYNC"
• 1 byte: Payload length
• n bytes: Payload
• 1 byte: XOR checksum of the payload

Position Based Protocol

• Index 0: Upper panto
• Index 1: Lower panto

Receiving

6x 32 bit little endian floats, 2x (for each panto):

• X-Axis (linear mm)
• Y-Axis (linear mm)
• Knob (angular radian)

or (about 1s interval) the hardware config MD5 hash value: 16 bytes.

Sending

1 byte panto index followed by 3x 32 bit little endian floats:

• X-Axis (linear mm)
• Y-Axis (linear mm)
• Knob (angular radian)