From 8c5c9938f3f9b8cea4cac6b514c645fd4b45898a Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Wed, 31 Jan 2024 20:54:23 +0100
Subject: [PATCH] Motor shutdown and music commands

---
 README.org | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/README.org b/README.org
index 420b9ae..ac05588 100644
--- a/README.org
+++ b/README.org
@@ -73,11 +73,16 @@ Values are exchanged in little endian format.
 - In automatic motor distance, time in 100th of seconds to reach the maximum speed
   or to decrease the speed from the maximum to 0.
 
+** 0x28 Motor shutdown timeout (R/W)
+
+- Number of tenths of seconds in before the motor shut down
+
 ** 0x30-0x31 Motor speed (R/W)
 
 - Left and right motor speed, between -127 and 127 each, max speed is
   ±127. -128 means standby. ±127 corresponds to the value limited by the
   max motor percentage.
+- If written while in automatic mode, the robot switches to manual mode
 
 ** 0x32-0x35 Encoder ticks (R)
 
@@ -93,3 +98,9 @@ Values are exchanged in little endian format.
 - Reading this value gives the distance to the target in ticks.
 - If left and right distances are not equal, they will be kept
   proportional as much as possible in order to progress the same way.
+
+** 0x40 Music (W)
+
+- For each motor, left then right, frequency in Hz on 1 byte and
+  duration in 10th of seconds on 1 byte. This cannot be used if the
+  motor is moving.
-- 
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