comm-module

code for the communications module

Motor control command protocol

The commands sent to the motor control unit are structured as follows:

• 2 start bytes: 0xface
• 1 function byte
• 1 argument byte
• 2 bytes for the 16-bit CRC

The function byte can take the values:

• 0: Sets the motor control unit in a particular state of the launch sequence. The argument is the launch state as defined in the documentation for the motor control.
• 1: Overrides the state of an actuator. The argument is the state of the specified actuator, either 0 or 1, other values are ignored.