powerboard.md

PowerBoard CAN Communication

Main Micro -> PowerBoard Micro (Packet 1)

Byte #	Description	Type
00	Packet Type	0x01
01	X-1	Signed int (2 bytes), High order
02	X-2	Signed int (2 bytes), Low order
03	X-1	Signed int (2 bytes), High order
04	X-2	Signed int (2 bytes), Low order
05	X-1	Signed int (2 bytes), High order
06	X-2	Signed int (2 bytes), Low order
07	Pump ESC	1 byte (0 to 255 PWM Val)

Main Micro -> PowerBoard Micro (Packet 2)

Byte #	Description	Type
00	Packet Type	0x02
01	Roll-1	Signed int (2 bytes), High order
02	Roll-2	Signed int (2 bytes), Low order
03	Pitch-1	Signed int (2 bytes), High order
04	Pitch-2	Signed int (2 bytes), Low order
05	Yaw-1	Signed int (2 bytes), High order
06	Yaw-2	Signed int (2 bytes), Low order
07	PID Control	1 byte - bool for pid / manual control