roverctl

Program to control the Knurów rover.

Use --help to learn more about it.

Frame formats

We use our own package frames to construct frames we send through (USART? SPI?).

Example frames below.

Go commands

MT+G${S}#${CRC}

where:

• S = speed, signed byte (from 0 to 255)

• CRC - calculated simple 8-bit CRC checksum of frame's all bytes (except the last byte, which is the CRC itself)

G indicates that this is a GO command

Turn commands

MT+T${D}#${CRC}

where:

• D - degrees, signed byte (from 0 to 255)

• CRC - calculated simple 8-bit CRC checksum of frame's all bytes (except the last byte, which is the CRC itself)

T indicates that this is a TURN command

Future

In the future, it might just serve as a client to roverd. Similar architecture is used by Docker