1.3 KiB (Stored with Git LFS)
1.3 KiB (Stored with Git LFS)
Protocol Stack
| Gobot-RPC |
| --------- |
| CAN-TP |
| --------- |
| CAN |
Address (CAN-Address)
| Address | Node |
|---|---|
0x000 |
Broadcast |
0x010 |
RPi |
0x020 |
X-Y-Controll |
0x030 |
Head |
0x040 |
Vacume |
Gobot-RPC-Protocol
Package Length: max. 128
| Byte | Function |
|---|---|
| 0 | Header |
| 1-n | Data |
Header
| Bit | Function |
|---|---|
| 0 | Type: Request or Response |
| 1-5 | RPC-ID |
RPS
X-Y-Controller
| RPC-ID | RPC | Request | Response |
|---|---|---|---|
0x1 |
cal() |
x: int32, y:int32 | |
0x2 |
goto() |
x: int32, y:int32 | |
0x3 |
goto_board() |
x: int8, y: int8 | |
0x4 |
home() |
||
0x5 |
release() |
||
0x6 |
set_board_param() |
see bellow |
Board Parameters:
{
front_margin_width: int32,
front_margin_height: int32,
width: int32,
height: int32,
width_field: int8,
height_field: int8
}