Packet Spec
0x12 = Header byte
Motor 1 = Signed int (1 byte)
Motor 2 = Signed int (1 byte)
Motor 3 = Signed int (1 byte)
Motor 4 = Signed int (1 byte)
Motor 5 = Signed int (1 byte)
Motor 6 = Signed int (1 byte)
Motor 7 = Signed int (1 byte)
Motor 8 = Signed int (1 byte)
Tools 1 = 1 bit more each state of tool (maybe more if tool is complex)
Tools 2 = 1 bit more each state of tool (maybe more if tool is complex)
R = 1 byte
G = 1 byte
B = 1 byte
CRC 8 checksum (use 0xD5 as polynomial)
0x13 = Tail Byte
Motor signed bit representation
Use bit masking to get the sign bit, and then the motor value
Scale the percentage from 0 to 127 to 0% to 100%
| Bit Values | Dec Value | Motor Percent |
|---|---|---|
| 0000 0000 | 0 | 0 |
| 0000 0001 | 1 | 1 |
| 0111 1111 | 127 | 100 |
| 1000 0000 | 128 | -0 |
| 1000 0001 | 129 | -1 |
| 1111 1111 | 255 | -100 |
Tool Representation (Subject to change depending on tools)
Use bit masking to get off the values you need (magic!)
| Bit # | Tool | State (0) | State (1) |
|---|---|---|---|
| 1 | Claw | Open | Closed |
| 2 | Cam Mux 1 | Cam 1 | Cam 2 |
| 3 | Cam Mux 2 | Cam 3 | Cam 4 |
| 4 | TBD | TBD | TBD |
| 5 | TBD | TBD | TBD |
| 6 | TBD | TBD | TBD |
| 7 | TBD | TBD | TBD |
| 8 | TBD | TBD | TBD |