DiskLoader.md

Disk Loader Protocol

Baud Rate: 4800

Return Values:

  0   - success
  A   - aborted
  C   - error input tray missing
  E   – input tray empty

  0x06  - acknowledge command
  0x15  - every character sent is acknowledged with this

Drives

Drive   Top   0
Drive         1
Drive         2
Drive   Bot   3

Commands

Load Disc from input tray to drive

(confirmed with 0x06, is echoed when finished)

0       to Drive 0
1       to Drive 1
2       to Drive 2
3       to Drive 3

Unload Disk from drive # to output tray

(confirmed with 0x06, is echoed when finished)

4       from Drive 0
5       from Drive 1
6       from Drive 2
7       from Drive 3

Unload Disk from drive # to input tray

(confirmed with 0x06, finished with )

t       from Drive 0
u       from Drive 1
v       from Drive 2
w       from Drive 3

move robot

b     move to drive 0 (stops on obstacle)
c     move to drive 1
d     move to drive 2
e     move to drive 3

f     move to reject drop position
g     move to input tray, above
h     move to input tray, half in
i     move to input tray, bottom

j     move to output tray, above
k     move to output tray, half in
l     move to output tray, bottom

m     reset loader

p     park position?
q     park position?
r     park position?
s     park position?