J2S1-Kobuki/docs/code/kobuki-driver.md

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.

  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