This is for the American Control Electronics AGV Bluetooth Control. The application sends information over Bluetooth SPP with the following format
(0x21) (0x82) (1Byte xVal +/-125) (1Byte yVal +/- yVal) (1Bit Lights On/Off) (7Bits Light Control 0-16) (1Byte Front Actuator 0-250) (1Byte Rear Actuator 0-250) (CRC16-IBM High Byte) (CRC16-IBM Low Byte) (0x0D)
Example:
2182A789007D7DD4CA0D
for
Start Character (0x21)
Device ID (0x82)
xVal -89
yVal -119
Lights Off
Lights Value 0
Front Actuator 125
Rear Actuator 125
CRC High D4
CRC Low CA
End Character (0x0D)
Reserved Character Support:
If 0x21, 0x0D, or 0x10 come up in the packet, it transforms that byte into two bytes, 0x10 and that reserved byte xored with 0x20, that way you can always assume 0x21 is the start, 0x0D is the end, and if you see a 0x10, assume the actual data is the next byte xored with 0x20.
