Sending power control from master to slave
Frame format
Power requests shall be send in the following frame format through the SPI bus:
| 0 | 1 | 2 | 3 |
|---|---|---|---|
| Power_1 | Power_2 | Power_3 | Power_4 |
Values are in range of uint8 format:
0 - No power requested on corresponding motor
255 - maximum power requested on corresponding motor
Bytes are sent in ascending order (Power_1 to Power_4)
Period of sending
Frames shall be sent from MainUnit to AuxUnit cyclicaly with 10ms period.
MainUnit shall be a master of communication.