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AksonovSergeiAksonovSergei
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Fix brocken anchors
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‎docs/platform/srs/protocol.md‎

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@@ -32,92 +32,88 @@ This is the core protocol used in both TCP and UART modes.
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## 3. Command Set
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| Command ID | Command Name | Description |
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|------------|-------------------|----------------------|
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| `0x01` | [`get_api_version`](#51-0x01_get_api_version) | Retrieves the API version of the system |
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| `0x02` | [`set_motor_speed`](#52-set_motor_speed) | Sets the speed of a motor |
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| `0x03` | [`set_all_motors_speed`](#53-set_all_motors_speed) | Sets the speed for all four motors in a single command |
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| `0x04` | [`get_encoder`](#54-get_encoder) | Retrieves the encoder value for a specific motor |
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| `0x05` | [`get_all_encoders`](#55-get_all_encoders) | Retrieves the encoder values for all motors |
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| `0x01` | [`get_api_version`](#get_api_version-0x01) | Retrieves the API version of the system |
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| `0x02` | [`set_motor_speed`](#set_motor_speed-0x02) | Sets the speed of a motor |
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| `0x03` | [`set_all_motors_speed`](#set_all_motors_speed-0x03) | Sets the speed for all four motors in a single command |
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| `0x04` | [`get_encoder`](#get_encoder-0x04) | Retrieves the encoder value for a specific motor |
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| `0x05` | [`get_all_encoders`](#get_all_encoders-0x05) | Retrieves the encoder values for all motors |
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### get_api_version (0x01)
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Retrieves the firmware/API version.
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**Request**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x01 |
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| 1 | 1 | ROS2 Driver Version | 1-255 |
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| 0 | 1 | command_id | 0x01 |
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| 1 | 1 | ROS2 Driver Version | 1-255 |
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**Response**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x01 |
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| 1 | 1 | API Version | 1-255 |
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| 0 | 1 | command_id | 0x01 |
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| 1 | 1 | API Version | 1-255 |
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### set_motor_speed (0x02)
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Sets the speed of a specific motor.
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**Request**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x02 |
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| 1 | 1 | motor_id | Motor ID (0-3) |
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| 2 | 4 | speed | Speed in RPM multiplied by 100 |
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| 0 | 1 | command_id | 0x02 |
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| 1 | 1 | motor_id | Motor ID (0-3) |
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| 2 | 4 | speed | Speed in RPM multiplied by 100 |
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**Response**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x02 |
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| 1 | 1 | Status Code | 0 for OK, non-zero for error (error codes defined later) |
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| 0 | 1 | command_id | 0x02 |
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### set_all_motors_speed (0x03)
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Sets the speed for all four motors in a single command.
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**Request**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|--------------|-------------------|--------|
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| 0 | 1 | command_id | 0x03 |
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| 1 | 4 | speed_motor_0 | Speed in RPM multiplied by 100 |
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| 5 | 4 | speed_motor_1 | Speed in RPM multiplied by 100 |
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| 9 | 4 | speed_motor_2 | Speed in RPM multiplied by 100 |
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| 13 | 4 | speed_motor_3 | Speed in RPM multiplied by 100 |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x03 |
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| 1 | 4 | speed_motor_1 | Speed in RPM multiplied by 100 |
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| 5 | 4 | speed_motor_2 | Speed in RPM multiplied by 100 |
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| 9 | 4 | speed_motor_3 | Speed in RPM multiplied by 100 |
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| 13 | 4 | speed_motor_4 | Speed in RPM multiplied by 100 |
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**Response**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x03 |
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| 1 | 1 | Status Code | 0 for OK, non-zero for error (error codes defined later) |
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| 0 | 1 | command_id | 0x03 |
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### get_encoder (0x04)
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Retrieves the encoder value for a specific motor.
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**Request**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x04 |
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| 1 | 1 | motor_id | Motor ID (0-3) |
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| 0 | 1 | command_id | 0x04 |
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| 1 | 1 | motor_id | Motor ID (0-3) |
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**Response**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|--------------|-------------------|--------|
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| 0 | 1 | command_id | 0x04 |
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| 1 | 4 | encoder_value | Encoder value for the specified motor |
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---
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x04 |
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| 1 | 4 | encoder_value | Encoder value |
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### get_all_encoders (0x05)
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Retrieves the encoder values for all motors.
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**Request**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|--------------|-------------------|--------|
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| 0 | 1 | command_id | 0x05 |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x05 |
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**Response**
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| Offset | Size (bytes) | Field Description | Values |
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|--------|--------------|-------------------|--------|
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| 0 | 1 | command_id | 0x05 |
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| 1 | 4 | encoder_motor_0 | Encoder value for motor 0 |
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| 5 | 4 | encoder_motor_1 | Encoder value for motor 1 |
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| 9 | 4 | encoder_motor_2 | Encoder value for motor 2 |
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| 13 | 4 | encoder_motor_3 | Encoder value for motor 3 |
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|--------|-------------|------------------|--------|
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| 0 | 1 | command_id | 0x05 |
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| 1 | 4 | encoder_value_motor_1 | Encoder value |
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| 5 | 4 | encoder_value_motor_2 | Encoder value |
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| 9 | 4 | encoder_value_motor_3 | Encoder value |
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| 13 | 4 | encoder_value_motor_4 | Encoder value |
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