Scribbler Byte-code Commands

CSC 499	Grinnell College	Fall, 2013-Fall, 2014
	Bluetooth Communication with C

Scribbler Byte-code Commands

According to Byte code descriptions,

commands for the Scribbler 2 robots "are always 9 bytes long with the first byte being the command."
commands for the Fluke "are variable length based on the command (1 byte)"

According to Byte code descriptions, "the scribbler echoes back everything you send to it". However, some commands also echo back all 11 bytes of sensor data as well.

The following table details

the 9-byte format for each command
whether or not the Scribbler echoes the command ("yes" in most or all cases)
whether or not the Scribbler also echoes 11 bytes of sensor data after echoing the command
the format of any response communication from the scribbler. A byte notation "X" means the byte is ignored for the given command.

		Command											Response	Response Format
Command name	Description	byte 0 command	byte 1	byte 2	byte 3	byte 4	byte 5	byte 6	byte 7	byte 8	Command echoed	Sensor data echoed	# Bytes	byte 0	byte 1	byte 2	byte 3	byte 4	byte 5	byte 6	byte 7
Retrieve Scribbler/Fluke version data
GET_INFO	Retrieve version info for Scribbler and Fluke	80	0	0	0	0	0	0	0	0	No	No	variable string	':' delimited string "Fluke version:robot version:scribbler version:model version"
Set/Retrieve Scribbler's name
SET_NAME	Set first 8 bytes of Scribbler's name	110	character 0	character 1	character 2	character 3	character 4	character 5	character 6	character 7	Yes	Yes	none	—
SET_NAME2	Set last 8 bytes of Scribbler's name	119	character 0	character 1	character 2	character 3	character 4	character 5	character 6	character 7	Yes	Yes	none	—
GET_NAME	Get first 8 bytes of Scribbler's name	78	X	X	X	X	X	X	X	X	Yes	No	8	character 0	character 1	character 2	character 3	character 4	character 5	character 6	character 7
GET_NAME2	Get last 8 bytes of Scribbler's name	64	X	X	X	X	X	X	X	X	Yes	No	8	character 8	character 9	character 10	character 11	character 12	character 13	character 14	character 15
Tone generation
SET_SPEAKER	Generate Tone (beep)	113	duration (int millesec)		frequency (int millesec)		-1	X	X	X	Yes	Yes	none	—
SET_SPEAKER	Generate Tone (beep)	113	high 8 bits	low 8 bits	high 8 bits	low 8 bits	-1	X	X	X	Yes	Yes	none	—
SET_SPEAKER_2	Generate 2 Tone (beep 2/duet)	114	duration (int millesec)		frequency1 (int millesec)		frequency2 (int millesec)		-1	X	Yes	Yes	none	—
SET_SPEAKER_2	Generate 2 Tone (beep 2/duet)	114	high 8 bits	low 8 bits	high 8 bits	low 8 bits	high 8 bits	low 8 bits	-1	X	Yes	Yes	none	—
Scribbler Movement Commands
SET_MOTORS	Instruct left & right motors	109	left power (0-99 backwards, 100 stop, 101-200 forward)	right power (0-99 backwards, 100 stop, 101-200 forward)	-1	X	X	X	X	X	Yes	Yes	none	—
SET_MOTORS_OFF	cut power to motors	108	-1	X	X	X	X	X	X	X	Yes	Yes	none	—
Scribbler Sensor Commands
GET_LIGHT_ALL	Determine all 3 light sensor values	70	X	X	X	X	X	X	X	X	Yes	No	6	left sensor		middle sensor		right sensor		—
GET_LIGHT_ALL	Determine all 3 light sensor values	70	X	X	X	X	X	X	X	X	Yes	No	6	high 8 bits	low 8 bits	high 8 bits	low 8 bits	high 8 bits	low 8 bits	—
GET_LIGHT_LEFT	Determine left light sensor value	67	X	X	X	X	X	X	X	X	Yes	No	2	left sensor		—
GET_LIGHT_LEFT	Determine left light sensor value	67	X	X	X	X	X	X	X	X	Yes	No	2	high 8 bits	low 8 bits	—
GET_LIGHT_CENTER	Determine center light sensor value	68	X	X	X	X	X	X	X	X	Yes	No	2	center sensor		—
GET_LIGHT_CENTER	Determine center light sensor value	68	X	X	X	X	X	X	X	X	Yes	No	2	high 8 bits	low 8 bits	—
GET_LIGHT_RIGHT	Determine right light sensor value	69	X	X	X	X	X	X	X	X	Yes	No	2	right sensor		—
GET_LIGHT_RIGHT	Determine right light sensor value	69	X	X	X	X	X	X	X	X	Yes	No	2	high 8 bits	low 8 bits	—
GET_IR_ALL	Determine both IR sensor values	73	X	X	X	X	X	X	X	X	Yes	No	4	left sensor		right sensor		—
GET_IR_ALL	Determine both IR sensor values	73	X	X	X	X	X	X	X	X	Yes	No	4	high 8 bits	low 8 bits	high 8 bits	low 8 bits	—
GET_IR_LEFT	Determine left IR sensor value	72 (Scribbler documentation says code 71)	X	X	X	X	X	X	X	X	Yes	No	2	left sensor		—
GET_IR_LEFT	Determine left IR sensor value	72 (Scribbler documentation says code 71)	X	X	X	X	X	X	X	X	Yes	No	2	high 8 bits	low 8 bits	—
GET_IR_RIGHT	Determine center light IR value	71 (Scribbler documentation says code 72)	X	X	X	X	X	X	X	X	Yes	No	2	left sensor		—
GET_IR_RIGHT	Determine center light IR value	71 (Scribbler documentation says code 72)	X	X	X	X	X	X	X	X	Yes	No	2	high 8 bits	low 8 bits	—
GET_LINE_ALL	Determine both line sensor values	76	X	X	X	X	X	X	X	X	Yes	No	4	left line sensor		right line sensor		—
GET_LINE_ALL	Determine both line sensor values	76	X	X	X	X	X	X	X	X	Yes	No	4	high 8 bits	low 8 bits	high 8 bits	low 8 bits	—
Fluke Movement Commands
SET_FORWARDNESS	Set default robot direction	128	direction (0—scribbler forward, 0x80—fluke forward)	2 byte Fluke command							No	No	none	—
SET_STALL	Determine if robot has stalled (unable to move forward)	79	1 byte Fluke command								Yes	No	none	—
GET_FORWARDNESS/ GET_SERIAL_MEM	Determine forwardness	90	page 0 in memory		offset 0 in memory		5 byte Fluke command				Yes	Yes	1	1—scribbler forward, 0—fluke forward)	—
GET_FORWARDNESS/ GET_SERIAL_MEM	Determine forwardness	90	high 8 bits	low 8 bits	high 8 bits	low 8 bits	5 byte Fluke command				Yes	Yes	1	1—scribbler forward, 0—fluke forward)	—
Set Fluke LEDs
SET_DONGLE_LED_ON	Turn on front dongle LED	116	1 byte Fluke command								Yes	No	none	—
SET_DONGLE_LED_OFF	Turn off front dongle LED	117	1 byte Fluke command								Yes	No	none	—
DIMMER_LED	Set rear dongle LED to 0-255	126	intensity (int 0-255, <160 not visible)	2 byte Fluke command							Yes	No	none	—
Dongle Sensors
SET_DONGLE_IR	cut power to motors	120	power (0-255)	X	X	X	X	X	X	X	No	No	none	—
GET_DONGLE_L_IR	Determine left IR Dongle sensor value	85	1 byte Fluke command								No	No	2	left sensor		—
GET_DONGLE_L_IR	Determine left IR Dongle sensor value	85	1 byte Fluke command								No	No	2	high 8 bits	low 8 bits	—
GET_DONGLE_C_IR	Determine center IR Dongle sensor value	86	1 byte Fluke command								No	No	2	center sensor		—
GET_DONGLE_C_IR	Determine center IR Dongle sensor value	86	1 byte Fluke command								No	No	2	high 8 bits	low 8 bits	—
GET_DONGLE_R_IR	Determine right IR Dongle sensor value	87	1 byte Fluke command								No	No	2	right sensor		—
GET_DONGLE_R_IR	Determine right IR Dongle sensor value	87	1 byte Fluke command								No	No	2	high 8 bits	low 8 bits	—
GET_BATTERY	Get battery voltage	89	1 byte Fluke command								Yes	No	2	Voltage		—
GET_BATTERY	Get battery voltage	89	1 byte Fluke command								Yes	No	2	high 8 bits	low 8 bits	—
Dongle Sensors
SET_PIC_SIZE	set size of image for Fluke 2 camera	11	71 for 266 (height) by 427 pixels; 213 for 800 (height) by 1280 pixels	X	X	X	X	X	X	X	No	No	none	—

      http://www.cs.grinnell.edu/~walker/bluetooth-with-c/scribbler-commands.shtml

created 20 June 2013 revised 27 November 2013 last revised 16 February 2016
For more information, please contact Henry M. Walker at walker@cs.grinnell.edu.