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