base+0x00 | byte | Storing 1 triggers the GPS device to start reading the coordinates and rotation of the car. The register is set to 0 when the reading is completed. |
base+0x01 | byte | Storing 1 triggers the Line Camera device to capture an image. The register is set to 0 when the capture is completed. |
base+0x02 | byte | Storing 1 triggers the Ultrasonic Sensor device to measure the distance in front of the car. The register is set to 0 when the measurement is completed. |
base+0x04 | word | Stores the Euler angle X of the car rotation at the moment of the last reading by the GPS. |
base+0x08 | word | Stores the Euler angle Y of the car rotation at the moment of the last reading by the GPS. |
base+0x0C | word | Stores the Euler angle Z of the car rotation at the moment of the last reading by the GPS. |
base+0x10 | word | Stores the X-axis of the car position at the moment of the last reading by the GPS. |
base+0x14 | word | Stores the Y-axis of the car position at the moment of the last reading by the GPS. |
base+0x18 | word | Stores the Z-axis of the car position at the moment of the last reading by the GPS. |
base+0x1C | word | Stores the distance (in centimeters) between the Ultrasonic sensor and the nearest obstacle. Returns -1 if there’s no obstacle within 20m. |
base+0x20 | byte | Sets the steering wheel direction. Negative values indicate steering to the left, positive values indicate steering to the right. |
base+0x21 | byte | Sets the engine direction.1: forward.0: off.-1: backward. |
base+0x22 | byte | Sets the hand break. (1 = enabled) |
base+0x24 | 256-byte array | Stores the image captured by the Line Camera. Each byte represents the luminance of a pixel. |