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talos-rit / commander

Allows robot arms to be repurposed as camera arms.
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Issue #23: Implement the ICD #29

Closed DevanTurtle7 closed 3 weeks ago

DevanTurtle7 commented 4 weeks ago

Implemented the ICD and the 2 documentation functions (handshake and polar pan). Used C Types to ensure that the number of bytes will be correct.

closes #23

bl2060 commented 3 weeks ago

The only comment I have about the code is that the Command ID was intended to be unique across all messages, not just messages of a specific command type. That being said, this gives us significantly more possible IDs to cycle through. Probably won't be a big deal either way, only thing I could think of it it would take longer to verify the Command ID isn't a repeat (although we would need to actually test to see if that's significant).

I'd want to double check that the messages come through on the client as expected before merging, but other than that I think it's good to go.