hexapod_ng/legacy/linux/ikd/licksnet.txt

LiCKS Messages (to ikd):

First character is licks_message.type

H                connection handhake, can be used as ping
P(0|1)           servo power off/on
Bd x y z r p y   move body, d=duration of movement in frames, 
                 (x,y,z) = movement vector,
                 (r,p,y) = roll/pitch/yaw rotation vector
Ld n x y z       move leg n
Gd x y z phi h   set gait parameters; d=duration of one step,
                 (x,y,z) = step vector,
                 phi = step z-rotation, 
                 h = step height
Q(0|1)           query off/on
X                exit ikd




LiCKS Answer Messages (from ikd, will be sent periodically when query mode is on):

licks_message.type == 'A'

AH2U2                connection handshake answer
ABx y z r p y        (x,y,z) = body position, (r,p,y) = body rotation
ALn x y z a1 a2 a3   n = leg number, (x,y,z) = leg endpoint, (a1,a2,a3) = ik angles
AGd x y z phi h      gait parameters, see above
ASp q                status, p = power, q = query mode