This document explains how to use JSON-based commands to communicate with the robot driver board.

It serves as a reference for developers who wish to control robot functions, extend firmware capabilities, or integrate the system with higher-level applications such as Python scripts, ROS2 nodes, or Web control interfaces.

1. Introduction

All Lygion robot driver boards, including Robot Driver with ESP32S3 Lite (A), use a unified JSON command format for communication between the upper controller (host PC, Web app, ROS2, etc.) and the lower controller (ESP32S3).

This allows easy debugging, rapid development, and smooth cross-platform integration.

2. Why JSON?

Using JSON as the communication protocol provides several major advantages:

✅ Clear Structure & Readability

JSON uses key-value pairs, making data self-explanatory:

{"T":11,"id":1,"pos":2047,"spd":0,"acc":0}

• Easy to read for both humans and machines
• No need for custom binary parsing or delimiters
• Ideal for debugging and logging

✅ Cross-Platform Compatibility

Every modern programming environment supports JSON parsing — including C/C++, Python, JavaScript, and ROS2.

This means you can control the robot directly from:

• A Web App using WebSocket or HTTP