Omni-Wheel Bot Community Edition

A community edition of the open-source Omni-Wheel Bot software:

• owb-core: Core no-std drivers and utilities (kinematics, I2C/LED controllers, WebSocket server).
• owb-app/mock-mcu: Desktop mock MCU application for testing the WebSocket JSON API and LED commands.

Quick Start

Clone the repository and run the mock MCU application:

cd owb-app/mock-mcu
cargo run -- --help

For API documentation, see the owb-core README in the owb-core directory or the published docs on docs.rs.

WebSocket JSON API

Commands are sent to /ws as JSON. Top‑level tags:

• ct: command type — "i" for I2C, "l" for LED
• I2C commands (ic):
  • { "ic": "read_imu" }
  • { "ic": "enable" }
  • { "ic": "disable" }
  • { "ic": "t", "d":<direction>, "s":<speed> }
  • { "ic": "y", "s":<rot_speed>, "o":<orientation> }
  • { "ic": "o", "d":<direction>, "s":<speed>, "rs":<rot_speed>, "o":<orientation> }
• LED commands (lc):
  • { "lc": "on" }
  • { "lc": "off" }
  • { "lc": "sc", "r":<0-255>, "g":<0-255>, "b":<0-255> }

License

This project is dual-licensed under MIT OR Apache-2.0. See [LICENSE-MIT] and [LICENSE-APACHE] in the project root for details.