Telerobotics Senior Project
Webbot 1.0 - Robot Control System
(c) 2000 Bradley University ECE
---------------------------------
Robot command set


General format
--------------

	7 6 5 4 3 2 1 0
	---------------
	s o o o d d d d

	Bits:
	7	Start byte flag
	6-4	Opcode for a specific command
	3-0	Data for command specified by the opcode

	Opcodes:
	0	Movement
	1	Status check
	2	Tag check
	3	Reserved
	4	Extended command - not implemented
	5	Configuration check - not implemented
	6	Configuration set - not implemented
	7	ADC test

Movement commands
-----------------

	Format:

	7 6 5 4 3 2 1 0
	---------------
	1 0 0 0 d d a a

	Bits:
	7	Start byte - always a one-byte command
	6-4	Opcode - 0
	3-2	Direction:
			00 - Forward
			01 - Reverse
			10 - Left
			11 - Right
	0-1	Amount of movement:
			fwd, rev:	lft, rgt
			2 inches	20 degrees
			4 inches	45 degrees
			6 inches	90 degrees
			8 inches	90 degrees

	Commands:

	$80	Move forward 2 inches
	$81	Move forward 4 inches
	$82	Move forward 6 inches
	$83	Move forward 8 inches
	$84	Move reverse 2 inches
	$85	Move reverse 4 inches
	$86	Move reverse 6 inches
	$87	Move reverse 8 inches
	$88	Turn left 20 degrees
	$89	Turn left 45 degrees
	$8a	Turn left 90 degrees
	$8b	Turn left 90 degrees
	$8c	Turn right 20 degrees
	$8d	Turn right 45 degrees
	$8e	Turn right 90 degrees
	$8f	Turn right 90 degrees

	Return value:

	None

Status check
------------

	Format:

	7 6 5 4 3 2 1 0
	---------------
	1 0 0 1 d d d d

	Bits:
	7	Start byte - always a one-byte command
	6-4	Opcode - 1
	3-0	Status byte:
			0	Movement status
			1-15	Reserved

	Commands:

	$90	Check status byte 0
	$91-$9f	Reserved

	Return value:

	Always returns 1 byte, the value of the status byte.

Tag check
---------

	Format:

	7 6 5 4 3 2 1 0
	---------------
	1 0 1 0 x x x x

	Bits:
	7	Start byte - always a one-byte command
	6-4	Opcode - 2
	3-0	Not used

	Commands:

	$a0-$af	Check for a tag

	Return value:

	Always returns 1 byte.  0 indicates no tag.  Any other value is
	a tag.  The value will be the sampled value of the tagging sensor.

Extended command
----------------

	Format:

	7 6 5 4 3 2 1 0
	---------------
	1 1 0 0 x x x x

	Bits:
	7	Start byte - always a one-byte command
	6-4	Opcode - 4
	3-0	Reserved

	Commands: - not implemented

	$c0-$cf	Reserved

	Return value: - not implemented

Configuration check
-------------------

	Format:

	7 6 5 4 3 2 1 0
	---------------
	1 1 0 1 x x x x

	Bits:
	7	Start byte - always a one-byte command
	6-4	Opcode - 5
	3-0	Reserved

	Commands: - not implemented

	$c0-$cf	Reserved

	Return value: - not implemented

Configuration set
-----------------

	Format:

	7 6 5 4 3 2 1 0
	---------------
	1 1 1 0 x x x x

	Bits:
	7	Start byte - always a one-byte command
	6-4	Opcode - 6
	3-0	Reserved

	Commands: - not implemented

	$c0-$cf	Reserved

	Return value: - not implemented

ADC test
--------

	Format:

	7 6 5 4 3 2 1 0
	---------------
	1 1 1 1 d d d d

	Bits:
	7	Start byte - always a one-byte command
	6-4	Opcode - 7
	3-0	ADC channel:
		0	PE0
		1	PE1
		2	PE2
		3	PE3
		4	PE4
		5	PE5
		6	PE6
		7	PE7
		8-11	Reserved		
		12	Vrh
		13	Vrl
		14	Vrh/2
		15	Reserved	

	Commands:

	$f0	Check PE0
	$f1	Check PE1
	$f2	Check PE2
	$f3	Check PE3
	$f4	Check PE4
	$f5	Check PE5
	$f6	Check PE6
	$f7	Check PE7
	$f8-fb	Reserved
	$fc	Check Vrh
	$fd	Check Vrl
	$fe	Check Vrh/2
	$ff	Reserved

	Return value:

	Always returns 1 byte, the sampled value of the specified analog
	channel.