Controlling Marty over I2c (or serial)
I'm writing something for controlling Marty using Nerves on a Pi Zero W.
I've been using the Socket API over ESP and it's all working just fine. But as I'm sticking the Pi Zero in Marty's head, it would be great to just be talking over a wire.
If I understand this response to a previous query correctly, I could send the same commands that I'm sending over the socket over I2c.
- It's SDA_1, SCL_1 that I should connect the Pi too?
- What's the address for the control interface?
- In that response Sandy said that the I2c command should be in rosserial format. That means this packet format? http://wiki.ros.org/rosserial#Packet_Format . What protocol version? What should the topic id be?
PS fwiw current source code is here