macros.md

Web Communication Protocal (UDP or TCP)

There are two types of packets, motion packets and macro packets. Motion packets are meant to be sent in a constant stream to manually control the robot (drive motor and actuator control data). Macro packets are meant to be sent once to make the robot do a predefined action specified below

Motion Packets

Macro Packets

Packet Structure

1/2 byte packets
<byte 1> <byte 2>
byte 1:

• [0]: Always 1 to represent macro packet flag
• [1..6]: Exclusive macro code to represent action to execute

byte 2: OPTIONAL data argument

Macro Codes

Decimal	Binary	Action	Data Required
0	000 000	ESTOP	No
1	000 001	Cancel macro	No
2	000 010	Full extend actuators	No
3	000 011	Full retract actuators	No
4	000 100	Carry position	No
5	000 101	Dump cycle	No
6	000 110	Dump cycle w/ movement	No
7	000 111	Dig cycle	No
8	001 000	Turn right 45 deg.	No
9	001 001	Turn left 45 deg.	No
10	001 010	Turn	Yes
11	001 011
12	001 100
13	001 101
14	001 110
15	001 111
16	010 000
17	010 001
18	010 010
19	010 011
20	010 100
21	010 101
22	010 110
23	010 111
24	011 000
25	011 001
26	011 010
27	011 011
28	011 100
29	011 101
30	011 110
31	011 111
32	100 000
33	100 001
34	100 010
35	100 011
36	100 100
37	100 101
38	100 110
39	100 111
40	101 000
41	101 001
42	101 010
43	101 011
44	101 100
45	101 101
46	101 110
47	101 111
48	110 000
49	110 001
50	110 010
51	110 011
52	110 100
53	110 101
54	110 110
55	110 111
56	111 000
57	111 001
58	111 010
59	111 011
60	111 100
61	111 101
62	111 110
63	111 111