This repository contains the ESP32 firmware used in our RoboCup 2026 Kanto project.
<id> <Message>
send
MOTOR <l> <r>
constraints
- -10,000 <= l, r <= 10,000
reply
ok
send
ARM <angle>
- 0 <= angle <= 4095
reply
ok
send
BUZZ <frequency(hz)> <duration(msec)>
reply
ok
send
BNO
reply
ok <head> <roll> <pitch> <x_acc> <y_acc> <z_acc>
send
TOF <l,f,r>
reply
ok [distance(int, space splitted)]
send
LOAD
reply
ok <weight_L> <weight_R>
send
CAGE <O/C>
where O is open and C is close.
reply
ok
send
SWITCH
reply
ok <(on|off)>
This project uses PlatformIO.
pio run
pio run --target upload