# Kobuki driver 

## How do i communicate with the kobuki
You can communicate with the kobuki by usb serial or the big serial port on the front. We chose the usb port paired with a raspberry Pi.

The Kobuki sends a message every 200ms with a baudrate of 115200. It sends all the sensordata and the message always starts with the same 2 bytes 0xAA and 0x55.

## Kobuki payloads
To communicate with the kobuki we need to send payloads to the kobuki. These are structured the same as the payloads that the kobuki sends.

```cpp
  unsigned char KobukiPayload[11] = {
      0xaa,               // Start byte 1
      0x55,               // Start byte 2
      0x08,               // Payload length (the first 2 bytes dont count)
      0x01,               // payload type (0x01 = control command)
      0x04,               // Control byte or additional identifier
      actual_speed % 256, // Lower byte of speed value (max actual_speed 1024)
      actual_speed >> 8,  // Upper byte of speed value
      0x00,               // Placeholder for radius
      0x00,               // Placeholder for radius
      0x00                // Placeholder for checksum (will be applied later)
  };
```
You can also find the documentation about the payloads on the kobuki website