ExcessiveMotion_controller-software/Documentation/API Backend/Project goals and discussion.md

This document should be used as a guide for developers to understand the overall direction of this module. Later as things kick off this document can probably be removed

Dependencies

• MinnowServer
  • Handle TCP/IP transmission
  • Maintains lower layer web socket needs
• TBD

Proposed transmission protocols

JSON RPC

Pros:

• Human readable
• Easy request response structure
• Platform agnostic Cons:
• Considerable amount of extra data being transferred
• Slower serialization and deserialization steps

Raw bytecode

Pros:

• Very small footprint
• Faster serialization on the server side Cons:
• Not human readable

Some things to think about

• Jogging:
  • Jog button pressed vs held. Is multiple messages being sent while button held or will we have a jog start and jog stop command?
  • General requirement should be when I let go of the button for jogging then the arm stops as well. No delay because the robot is trying to execute a series of move commands.