I'm working on a dashboard program and I need some more info about the protocol (the documentation isn't very detailed and I don't have access to the controller right now).
Quote:
|
The data sent out the Dashboard port is a stream of bytes. There are 26 bytes in a packet. The packets are transmitted approximately 40 times per second.
|
I got the part about 26 bytes in a packet. However, it takes 3 packets to get all the data. So, how many packets are sent each loop (main program loop)? Is it just one packet at a time, or all 3? The reason I ask is that I want to encode some extra data into the user bytes, but I need more than the 6 byes available. My plan is to send some of the data the first time around, then the rest of it in another packet (or set of packets).
Quote:
|
The firmware in the Robot Controller (2004 or later) interlaces data packets.
|
Is this the to answer my above question (sending one packet at a time) or does it mean that the packets don't come in order?
Lastly, the documentation keeps refering to specific bits within certain bytes. But is bit 0 the LSB or the MSB?
Edit: One more thing: there's a byte called USER CMD, but I couldn't figure out what it is. Is it an extra "user byte" that I can play with, or does it actually do something important?