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Updated Hardware: LiDAR (markdown)

Simon Fortier 2017-11-11 21:56:42 -05:00
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Hardware:-LiDAR.md

@ -14,12 +14,13 @@ Hardware ID: `0x0003`
| `3` | `GET_MAP` | `10 kJ` | Generate the current World's map and copy it to memory |
| `4` | `GET_WORLD_POS` | `0 kJ` | Copy the current (x,y) coordinates in the Universe in the X and Y registers |
`GET_PATH` generates a path as a direction sequence of 1 word each starting at memory address `0x0000`
`NORTH` = `0x0000`
`GET_PATH` generates a path as a direction sequence of 1 word each starting at memory address `0x0000`. The last word in the sequence is `0xAAAA` to indicate the end of the path. A single value of `0xFFFF` is set in memory to indicate an invalid path.
`NORTH` = `0x0000`
`EAST` = `0x0001`
`SOUTH` = `0x0002`
`WEST` = `0x0003`
`GET_MAP` generates a map of the current world as a tile sequence of 256 words starting at memory address `0x0100`, each word representing a tile. The LiDAR starts reading the tiles west to east, north to south: (0,0) (1,0) (2,0) ... (15,0) (0,1) (1,1) ...
Each tile is is encoded as a bit field: