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GoGo Board Socket Server Protocol

This document describes the GoGo Board Socket Server protocol version 1.0.1, including general guidelines, available commands, responses, and a streaming sensor server. The commands allow controlling motors, reading sensors, and other functions of a GoGo Board via networked socket connections. Responses are always in the format "command=status;" to indicate if the command was recognized and completed successfully. A streaming server continuously sends sensor data values within square brackets, comma-delimited.

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Fernando Lizarraga
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69 views4 pages

GoGo Board Socket Server Protocol

This document describes the GoGo Board Socket Server protocol version 1.0.1, including general guidelines, available commands, responses, and a streaming sensor server. The commands allow controlling motors, reading sensors, and other functions of a GoGo Board via networked socket connections. Responses are always in the format "command=status;" to indicate if the command was recognized and completed successfully. A streaming server continuously sends sensor data values within square brackets, comma-delimited.

Uploaded by

Fernando Lizarraga
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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GoGo Board Socket Server Protocol

Version 1.0.1 July 25, 2011


By Arnan (Roger) Sipitakiat

General Guidelines

Make sure to use the oo Monitor so!t"are #ersion $.5.0 or %etter.
&he so'kets 'o((an)s are te*t+%ase). ,ou 'an e*peri(ent "ith the 'o((an)s %y
'onne'ting to the ser#er #ia a ter(inal e(ulator (-u&&, is a goo) !ree pa'kage). Make sure
the 'onne'tion type is RA.. &hat is, all the so'ket )ata %eing sent or re'ei#e) shoul) %e
seen )ire'tly %y the user.
&he )e!ault port !or so'ket ser#er is /01$ an) /012 !or the sensor strea(ing ser#i'e.
&he 'o((an)s sent to the so'ket ser#er "ill ha#e the sa(e e!!e't on the oo Monitor as
"hen )ire'tly (anipulating the 34. 5or e*a(ple, sele'te) (otor ports "ill ha#e their 'he'k
%o*es 'he'ke).
.hite spa'es an) ne" line 'hara'ters %e!ore an) a!ter the 'o((an)s are ignore).
6o((an)s are 78& 'ase sensiti#e.
&he oo %oar) (ust %e 'onne'te) to the oo (onitor other"ise the 'o((an)s "ill
return an error.

The Commands

All 'o((an)s are )eli(ite) %y a se(i'olon (9:;). Multiple 'o((an)s 'an %e sent as long as they are
properly )eli(ite). A )eli(iter is optional !or the last 'o((an) sent.

beep;ledon

&he a%o#e "ill tell the oo Boar) to %eep an) then turn on the user <=>.

&he response is al"ays in the !ollo"ing !or(at

command=status;

command is the 'o((an) %eing e*e'ute). Status is typi'ally 9ok; unless the 'o((an) is
unre'ogni?e) or returns a #alue. &he response al"ays en)s "ith a se(i'olon. @ere are so(e
e*a(plesA

beep;
beep=ok;

foo
foo=GoGo Monitor Error: Unrecognized command;

sensor1
sensor1=1023;

beep;ledon
beep=ok;ledon=ok;

beep;
beep=GoGo Monitor Error: GoGo board not connected;

&he !ollo"ing ta%le )es'ri%es the a#aila%le 'o((an)s an) their responses


close
Ends the socket connection with the GoGo server.

Response
close=ok;
setcom number
Sets the serial port number

Response
setcom number=ok;
Connect
Connects the GoGo monitor to the GoGo Board

Response
Connect=ok;
Disconnect
Disconnects the GoGo monitor from the GoGo Board

Response
Disconnect=ok;
Talktoport abcd
Selects motor port(s) to work with. or e!ample"

talktoport ab

#ill make the motor ports $ and B selected. %ou will see the
checkbo!es selected on the GoGo &onitor software.

Response
Talktoport abcd=ok;
Setpower number
Sets the power level of the selected motor ports. 'umber must be
between ( and ) otherwise an error messa*e will be sent.

Setpower 7

Sets the power level of the selected motor ports to ).

Response
Setpower number=ok;
+f number is invalid
Setpower number= GoGo Monitor Error: power out of
range;
On, off, break,
coast
,hese four commands control the on-off state of the selected motors.
On.turns the motor(s) on
Break.turns off the motor(s) and applies a resistance
preventin* the motors to turn.
Coast.turns off the motors with our resistance
Off.turns off and applies a resistance for a short time then
coasts.

Respons
Command=ok;
Thisway,thatway,rd
,hese three commands determine which wa/ the motor(s) will turn.
RD stands for 0reverse direction1.

Response
Command=ok;


Beep
,ells the GoGo Board to beep once

Response
Beep=ok;
Ledon, ledoff
,ells the GoGo Board to turn on and off the built-in user 2ED
respectivel/.

Response
Command=ok;
Burston, burstoff
,urns on or off sensor readin*s. #hen on3 the GoGo Board will
continuousl/ stream sensor data to the GoGo &onitor.
Burst mode must be on for the sensor streamin* server to work.

Response
Command=ok;
sensorN
Returns the sensor number '4s value. #here ' is between 5 and 6. or
e!ample"

Sensor1
Sensor1=1023;

Response
sensor=Value;

7alue is -5 if burst mode is not turned on


The Streaming Server

8n'e a 'onne'tion is esta%lishe) "ith the strea(ing ser#er, "hi'h is part o! the oo Monitor
so!t"are, the ser#er "ill i((e)iately start stea(ing the sensor )ata to the 'lient. &he !or(at o! a
sensor #alue pa'ket is as !ollo"s. &he #alues are pa'ke) insi)e sBuare %ra'kets. =a'h #alue is
)eli(ite) %y a 'o((a.

Csensor1,sensor2,sensor$,sensor2,sensor5,sensorD,sensor1,sensor0E

=a'h sensor #alue rages %et"een 0 an) 102$. 4! the %urst+(o)e on the oo Monitor is not turne)
on, the sensor #alues "ill %e %lank.



Change Log

1.0.1F July 25, 2011
A))e) )o'u(entation !or the sensor strea(ing ser#er

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