In 2. Communication Packet Specifications, the structure of the Instruction Packet and Status Packet was outlined. This page lists these two types of packets by INST instruction content and explains them in detail with specific examples.

3.1. Boot Robot through Cradle (0x01)

3.1.1. Description

• Boots the robot remotely from a host PC application.
• Available only when the robot is plugged into the cradle.

3.1.2. Parameter

Table 3-1-1 Parameter of Boot Robot From Cradle

3.1.3. Example

• Turns off and on the power of all robots connected to the cradle.

• Instruction Packet

  Table 3-1-2 Instruction Packet Example

  H1	H2	LEN_L	LEN_H	INST	P1	SUM
  0xFF	0xFD	0x03	0x00	0x01	0x00	0x00

  private void rebootRobot(bool isDFU)
  {
      byte[] data = new byte[7] { 0xFF, 0xFD, 0x03, 0x00, 0x01, (isDFU) ? (byte)1 : (byte)0, 0x00 };
      data[6] = calculateCheckSum(data);
      WriteSerial(data);
  }
  

3.2. Reboot Cradle with Enabling DFU (0x02)

3.2.1. Description

• Reboots the cradle in DFU mode.
• Do not use this function except when rewriting firmware.

3.2.2. Parameter

• None

3.2.3. Example

• Instruction Packet

  Table 3-2-1 Instruction Packet Example

  H1	H2	LEN_L	LEN_H	INST	SUM
  0xFF	0xFD	0x02	0x00	0x02	0x00

  private void rebootBoard()
  {
      byte[] data = new byte[6] { 0xFF, 0xFD, 0x02, 0x00, 0x02, 0x00 };
      data[5] = calculateCheckSum(data);
      WriteSerial(data);
  }
  

3.3. Write Motor Speed (0x03)