Unibots2-esp32

Contains the source files for the program that will be executed on the ESP32

ESP32 I2C Communication Protocal

• Drive Control
  • First Byte (direction) - one of either:
    • 0x00 - both speeds are in the reverse direction
    • 0x01 - left is backward, right is forward
    • 0x10 - left speed is forward, right is backward
    • 0x11 - both speeds are in the foward direction
  • Second Byte (Left Speed) - The unsigned 8 bit left motor speed
  • Third Byte (Right Speed) - The unsigned 8 bit right motor speed

The following elements of the protocal are currently disabled, but could be added in the future:

• Motor Enable/Disable
  • First Byte (enable or disable)
    • 0x00 - left motor disable, right motor disable
    • 0x01 - left motor disable, right motor enable
    • 0x10 - left motor enable , right motor disable
    • 0x11 - left motor enable , right motor enable
• Read Fault
  • 0x00 - right, left fault
  • 0x01 - right fault, left no fault
  • 0x10 - right no fault, left fault
  • 0x11 - right, left no fault
  • Send back either 0x0 for a fault, 0x1 for no fault