Tone-Generation Examples, with Additional Notes

Applying the previous outline to the command rBeep (1.0, 880) yields the following:

Message		Messsage/
From	To	Data	Comment
1. Computer	Robot/Fluke	9 bytes: byte 0: 113 bytes 1-2: 1000 (in binary) bytes 3-4: 880 (in binary) byte 4: -1 bytes 6-8: (anything)	units in millisecs cycles/sec
2.Robot/Fluke	Computer	same sequence as instruction	echo
3. —	—	no transmission while tone sounds
4. Robot/Fluke	Computer	11-byte sensor data byte 0: left ir sensor byte 1: right ir sensor bytes 2-3: left light sensor bytes 4-5: middle light sensor bytes 6-7: right light sensor byte 8: left line sensor byte 9: right line sensor byte 10: stall sensor	sensor data returned

Notes

rBeep command does not complete its reply until sound has finished.
For motion, two transmissions are required
- first transmission: start motion
- second transmission: end motion

created 26 January 2021
last revised 26 January 2021 previous next