K-Team Koala 2.5, Руководство пользователя

Страница: 40 / 53

Koala 2.5 User Manual Rev 1.1 37
6 SERIAL COMMUNICATION PROTOCOL
This communication protocol allows complete control of the
Koala’s functions through the Pico-ITX serial line.
The protocol is made of commands and answers, all in standard
ASCII codes. A command is sent from the Pico-ITX to the Koala: it is
starting with an upper case alpha character and is followed, if
necessary, with numerical parameters separated with comma and
terminated by a line feed. The answer is sent by the robot to the Pico-
ITX: it is starting with the same character that was initiating with the
command but using lower case, and followed, if necessary, with
numerical parameters.
The Koala could also send automatically some information (if
enabled) to provide an instantaneous update when new data (sensor,
motor, GPS, etc…) are available. This will avoid the Pico-ITX to read
many times the same data. To enable this mode, see “A” command in
the list below.
Notation:
↵
stands for carriage return key (Enter or Return key pressed)
\r
stands for ASCII character 0x0A (line feed)
\n
stands for ASCII character 0x0D (carriage return)
Specification:
- 115200bps
- 8 data bits
- 1 stop bit
- No parity