The bluetooth connection between robot and pc is based on an exchange of needed data for the localisation. The car- as well as the pc side gives a tuple of integers back.
The cars side: (dx, dy, theta, s1, s2, s3)
dx and dy are the driven offsets of the car, the change of the cars position since the last data exchange. theta means the absolute orientation of the car with respect to the map. s1, s2, s3 are the sensor readings which are necessary for the localisation.
The pc side: (dtheata, drive)
The pc side gives a turn and a certain distance to drive to the robot.
Every communication phase between robot and pc takes exactly eight steps. Six steps for the car and two steps for the pc. Just integers are sent, to make it as easy as possible.
Our experiments with the bluetooth showed that this way of exchanging data is very stable. The connection didn't break down after 10 minutes of exchanging data between robot and pc.
This shows that the implemented bluetooth class is satisfied for the tasks.
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