Design and implement communication between the STM and the ESP

[izsoandras]

We would like to have the possibility to use the ESP to run the user application, while the STM operates as a simple command processor. The commands shall be sent over an UART channel and the following functionalities shall be available:

• Writing to all output the robot has
  • 2 motors (setspeed, read enc, set pos, set PWM)
  • servo
  • LCD
• Reading of all inputs
  • color sensor
  • distance sensor
  • encoder/speed
  • IMU (coming soon)
• Setting system parameters
  • Servo middle point?
  • Color sensor parameters
  • Motor controller parameters
  • IMU parameters (coming soon)
• Getting system parameters
  • all which is included in "setting"
  • robot ID
• Any other (higher level) commands?

The RobonAUT serial description can be used as a starting point UART-üzenetek-csomagolása_v1.1.pdf