checkpoint

[bachelor-thesis/written-stuff.git] / Ausarbeitung / roomba.tex

diff --git a/Ausarbeitung/roomba.tex b/Ausarbeitung/roomba.tex
index f7dd0b7..279a6c2 100644 (file)
--- a/Ausarbeitung/roomba.tex
+++ b/Ausarbeitung/roomba.tex
@@ -155,10 +155,10 @@ The velocity is interpreted in mm/s, the value can range from -500~mm/s to
 500~mm/s, with negative values implying backwards movement. The radius is
 interpreted in mm, ranging from -2000~mm to 2000~mm. Negative values make the
 Roomba turn toward the right, whereas positive values make it turn toward the
-left. There are also four special values for the radius: \magicnumber{1} makes
-the Roomba turn on the spot in counter-clockwise direction, \magicnumber{-1}
+left. There are also four special values for the radius: \magicvalue{1} makes
+the Roomba turn on the spot in counter-clockwise direction, \magicvalue{-1}
 makes the Roomba turn on the spot in clockwise direction, and
-\magicnumber{0x7fff} and \magicnumber{0x8000} make it drive straight.
+\magicvalue{0x7fff} and \magicvalue{0x8000} make it drive straight.
 
 For example, to drive straight with a velocity of 1000~mm, one would send the
 following bytes over the serial interface:
@@ -214,15 +214,15 @@ where:
     $\sum_{i=1}^n\left(p_1 + v(p_1)\right) + c + n \equiv 0 \mod 256$
 \end{description}
 Example: The following byte sequence requests data from the left cliff
-signal (packet~ID \magicnumber{0x1d}) and virtual wall sensor (packet~ID
-\magicnumber{0x0d}):
+signal (packet~ID \magicvalue{0x1d}) and virtual wall sensor (packet~ID
+\magicvalue{0x0d}):~\cite{irobot-oi}
 \begin{verbatim}
 0x94,       // Stream command
 0x02,       // parameter: 2 packets following
 0x1d, 0x0d  // parameter: request packets 0x1d and 0x0d
 \end{verbatim}
 The Roomba then would return a packet with the following format every
-15~ms:\label{sec:roi-stream-packet}
+15~ms:\label{sec:roi-stream-packet}~\cite{irobot-oi}
 \begin{verbatim}
 0x13,       // Header byte
 0x05,       // 5 bytes following, except checksum