RCwiproc
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Wireless Protocol
The host will be able to send each robot velocity, direction, and shoot directives, at with the time alloted between each sample of the playing field by the overhead camera. In such way the enitre system (host, camera, and robot) will behave as a real-time system. The robot will send its current error status, battery voltage, wheel velocity, unique ID, and whether or not it has the ball to the host but not in real-time.
Data Rate calculations
100 fps
At least two frames needed to track motion theta
Time per command 20ms
Each robot needs 3 bytes (will change)
6 robots = 18 Bytes
10 bits per Byte (Start bit , 8 data bits, 1 stop bit)
(18 Bytes/20ms)*(10 bits/1 Byte) = 9kbps
Double bit rate for Manchester encoding 18kbps
=19.2Bps baud rate
Articles
- Linx article on protocol design
- Paper on the Cylical Redundancy Check error checking algorithm (CRC)
