LKAlphaComSpecs.yml

---

#   Leka Alpha - BLE Frame Specification

#   This document describes the values used to communicate with Leka
#   through BLE or UART connection.

#   The communication can be implemented in any language.
#   A ruby script is available to parse this document to a .h file
#   populated with namespace used in the robot software.

#   All value are of type *frame_t* with:
#
#       frame_t = uint8_t (in C++)
#       size of = 8 bits = 1 byte

# -------------------------------------------------------------------

LEKA_ALPHA_COM_SPECS: '3.0.0'


#
#   MARK: - Frame
#

LKFrame:

  start:

    #  Start sequence used to identify the start of a command frame
    sequence: [0x2A, 0x2B, 0x2C, 0x2D]
    length: '4'


#
#   MARK: - Command
#

LKCommand:


  #   MARK: - Info
  #   Usage:  display the robot informations and version number
  info: 0x70

  #   MARK: - Stop
  #   Usage:  easily stop the robot, the LEDs or the motors
  stop:

    led:   0xFD
    motor: 0xFE
    robot: 0xFF


  #   MARK: - LED
  #   Usage:  control the LEDs one by one, by range or all together
  led:

    id: 0x10  #  Not used

    ears:

      all:    0x11
      range:  0x12
      single: 0x13

    belt:

      all:    0x14
      range:  0x15
      single: 0x16

    length:

      all:   '3'          #  3          --> R / G / B (3)
      range:  1 + 1 + 3   #  1 + 1 + 3  --> first + last + R / G / B (3)
      single: 1 + 3       #  1 + 3      --> id + R / G / B (3)


  #   MARK: - Motor
  #   Usage:  control the motors one by one or all together
  motor:

    id: 0x20 # Not used

    all:   0x21
    duo:   0x22
    left:  0x23
    right: 0x24

    length:

      all:    1 + 1           #  --> direction + speed
      duo:    1 + 1 + 1 + 1   #  --> L-spin + L-speed + R-spin + L-spin
      single: 1 + 1           #  --> spin + speed


  #   MARK: - Motivator
  #   Usage:  launch motivators
  motivator:

    id:     0x50
    length: '1'   #  --> id

    fire:        0x51
    birds:       0x52
    rainbow:     0x53
    spin_blink:  0x54
    spin_yellow: 0x55


  #   MARK: - Guidances
  #   Usage:  launch guidances
  guidance:

    id:     0x40
    length: '1'   #  --> id

    translation:

      left:       0x41
      right:      0x42
      left_right: 0x43

      up:         0x44
      down:       0x45
      up_down:    0x46

    move:

      away:       0x47
      closer:     0x48

    turn:

      left:       0x49
      right:      0x4A

    tilt:

      left:       0x4B
      right:      0x4C
      forward:    0x4D
      backward:   0x4E

    misc:

      shake:      0x4F