NEX ROBOTICS SPARK V ATMEGA16 Hardware Manual page 95

SPARK V ATMEGA16 Hardware Manual
Figure 7.3: GUI showing robot's data
Warning:
While using USB communication, ensure that the appropriate jumpers are in place. For more
refer section 6.2 and 6.3
Important:
When using USB port for the communication, for proper operation first turn on the robot then
insert the USB cable in the robot. We have to follow this sequence because USB to serial
converter chip is powered by USB. If any fault occurs then turn off the robot and remove the
USB cable and repeat the same procedure.
7.3 Communication protocol used in GUI
The communication between the host computer and Spark V robot is done by sending and
receiving commands and data byte by byte. The host computer interacts with the Spark V robot
by first sending a command byte followed by data byte or it waits for data from the robot. All
communication is initiated by host PC. The host computer acts as a master and Spark V robot
acts as a slave. PC introduces delay of at least 3ms between two consecutive commands, so that
the microcontroller gets sufficient time to process the command sent to it. You can also build
your own application by using command set given below to control robot using USB or over
wireless communication. It's a simple byte based protocol in which upper nibble is command
and lower nibble can be data or command.
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA 95