Sinclair GurnyAt this point I had no idea how to perform the other operations that the original control program could do, such as control the orientation of the pant tilt camera, change driving speed, etc.
I decided to use a packet sniffer, Wireshark, and the original control program to see what the contents of other commands were.
All of my known commands at this point:
| Command | Byte String | |
| Stop | FF 00 00 00 FF | |
| Forward | FF 00 01 00 FF | Drives forward until told to stop, or do another driving command. |
| Back | FF 00 02 00 FF | |
| Right | FF 00 03 00 FF | The website said that 03 was left, but it wasn't. |
| Left | FF 00 04 00 FF | |
| Servo Control | FF 01 VV AA FF | VV is the servo number (07, 08), AA is the angle |
| Motor Speed | FF 02 MM SS FF | MM is the motor number (01, 02), SS is the speed (00-100 in decimal) |
| LED Control | FF 04 00/01 00 FF | 00 - turns on, 01 - turns off |
| Heartbeat | FF EF EF EE FF | Sent approximately every 10s |
There are still some gaps missing, such as how to read from the sensors: Line followers and Ultrasonic distance.
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