Separate project description and project documentation

Author: AksonovSergei

.gitignore

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 npm-debug.log*
 yarn-debug.log*
 yarn-error.log*
+yarn.lock

docs/intro/_category_.json

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+# Shassis Controller Communication Protocol
+
+## 1. Overview
+This protocol is designed for communication between a ROS2 system running on platforms such as RPI and a chassis controller operating on hardware like BeagleBone Blue or STM32. It supports both TCP and UART, allowing for a seamless future transition between the two communication methods.
+
+## 2. Protocol Architecture
+The protocol consists of two layers:  
+1. **Frame Layer (Layer 1)** – Ensures data integrity, required only for UART.  
+2. **Protocol Layer (Layer 2)** – Defines the core communication commands.  
+
+### 2.1. Frame Layer (Layer 1) – UART Only
+**(Not used in TCP mode)**  
+The frame layer is **only applicable when using UART**, as UART does not guarantee message integrity or completeness.
+
+**Frame Format (UART Only)**
+| Offset | Size (bytes) | Field         | Description |
+|--------|-------------|---------------|-------------|
+| 0      | 1           | `frame_length` | Total packet length (including CRC16). Ensures packet boundary detection over UART |
+| 1      | N           | `payload`      | Protocol Layer (Layer 2) data |
+| N+1    | 2           | `crc16`        | CRC16 checksum. Provides error detection for unreliable UART communication |
+
+### 2.2 Protocol Layer (Layer 2) – Used in TCP & UART
+This is the core protocol used in both TCP and UART modes. 
+
+**Protocol Format**
+| Offset | Size (bytes) | Field         | Description |
+|--------|-------------|---------------|-------------|
+| 0      | 1           | `command_id`   | Unique command identifier |
+| 1      | 1           | `payload_size` | Number of bytes in the payload |
+| 2      | N           | `payload`      | Command-specific data |
+
+## 3. Command Set
+| Command ID | Command Name       | Description          |
+|------------|-------------------|----------------------|
+| `0x01`     | [`get_api_version`](#51-0x01_get_api_version) | Retrieves the API version of the system |
+| `0x02`     | [`set_motor_speed`](#52-set_motor_speed) | Sets the speed of a motor |
+| `0x03`     | [`set_all_motors_speed`](#53-set_all_motors_speed) | Sets the speed for all four motors in a single command |
+| `0x04`     | [`get_encoder`](#54-get_encoder) | Retrieves the encoder value for a specific motor |
+| `0x05`     | [`get_all_encoders`](#55-get_all_encoders) | Retrieves the encoder values for all motors |
+
+### get_api_version (0x01)
+Retrieves the firmware/API version.
+
+**Request**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|-------------|------------------|--------|
+| 0        | 1           | command_id | 0x01 |
+| 1        | 1           | ROS2 Driver Version | 1-255 |
+
+**Response**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|-------------|------------------|--------|
+| 0        | 1           | command_id | 0x01 |
+| 1        | 1           | API Version | 1-255 |
+
+### set_motor_speed (0x02)
+Sets the speed of a specific motor.
+
+**Request**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|-------------|------------------|--------|
+| 0        | 1           | command_id | 0x02 |
+| 1        | 1           | motor_id | Motor ID (0-3) |
+| 2        | 4           | speed | Speed in RPM multiplied by 100 |
+
+**Response**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|-------------|------------------|--------|
+| 0        | 1           | command_id | 0x02 |
+| 1        | 1           | Status Code | 0 for OK, non-zero for error (error codes defined later) |
+
+### set_all_motors_speed (0x03)
+Sets the speed for all four motors in a single command.
+
+**Request**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|--------------|-------------------|--------|
+| 0      | 1            | command_id        | 0x03 |
+| 1      | 4            | speed_motor_0     | Speed in RPM multiplied by 100 |
+| 5      | 4            | speed_motor_1     | Speed in RPM multiplied by 100 |
+| 9      | 4            | speed_motor_2     | Speed in RPM multiplied by 100 |
+| 13     | 4            | speed_motor_3     | Speed in RPM multiplied by 100 |
+
+**Response**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|-------------|------------------|--------|
+| 0        | 1           | command_id | 0x03 |
+| 1        | 1           | Status Code | 0 for OK, non-zero for error (error codes defined later) |
+
+### get_encoder (0x04)
+Retrieves the encoder value for a specific motor.
+
+**Request**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|-------------|------------------|--------|
+| 0        | 1           | command_id | 0x04 |
+| 1        | 1           | motor_id | Motor ID (0-3) |
+
+**Response**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|--------------|-------------------|--------|
+| 0      | 1            | command_id        | 0x04 |
+| 1      | 4            | encoder_value     | Encoder value for the specified motor |
+
+---
+
+### get_all_encoders (0x05)
+Retrieves the encoder values for all motors.
+
+**Request**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|--------------|-------------------|--------|
+| 0      | 1            | command_id        | 0x05   |
+
+**Response**
+| Offset | Size (bytes) | Field Description | Values |
+|--------|--------------|-------------------|--------|
+| 0      | 1            | command_id        | 0x05   |
+| 1      | 4            | encoder_motor_0   | Encoder value for motor 0 |
+| 5      | 4            | encoder_motor_1   | Encoder value for motor 1 |
+| 9      | 4            | encoder_motor_2   | Encoder value for motor 2 |
+| 13     | 4            | encoder_motor_3   | Encoder value for motor 3 |
+