SimpleArm was designed with a basic communication protocol to make it easy to learn from, implement and extend.  The robot communicates over serial via USB.

Its syntax is as follows:

[command] [parameters] [LF]

command      A number representing a command from the Command Chart below
parameters   one or more parameters for the command.  Each parameter is separated by a space
LF           An ASCII line feed character, also known as new line or \n. This signals the end of the command


Communication is both sent and received in this syntax
The types of commands are as follows:
  1.  Sent command with an immediate response
  2.  Sent command with no response
  3.  Sent command that instructs SimpleArm to send continuous responses whenever an event occurs


Command Chart [zArmB1 v1.0.3]

NUMBER  TYPE        NAME                PARAMETERS                NOTES
=== General Commands ==================================================
  0     received    Error               [text]                    The error message
  1     sent        Info                                          Used to see if the serial port is connected to a SimpleArm
  1     response                        [text]                    Returns 'connected_to_zArm'
  2     sent        Help                                          *Disabled to save space in firmware
  3     sent        Soft Reset                                    Disables events, lights, sounds, motors and reloads settings
  3     response                  
  4     sent        Read Settings       [settingID]               If settingID is omitted, all setting are returned
  4     response                        [settingID] [value]       see the Settings Chart for settingID and values
  5     sent        Write Settings      [settingID] [value]       Will write a setting to the robots flash memory - see Settings Chart
  5     response                        [settingID] [value]       
  6     sent        Cmd Process Speed                             *Disabled to save space in firmware
  7                                                               *Reserved for future use
  8                                                               *Reserved for future use
  9                                                               *Reserved for future use

  == MORE TO COME ===