The bar is the peak-to-peak swing over a 50 ms window, not a
single ADC sample. The marker is the detection threshold.
POSITION (DEAD RECKONING)
Displacement—
Heading—
Ground covered—
Error radius—
Speed model—
No GNSS and no wheel encoders: this is displacement from where
the rover was put down, integrated from the motion it was commanded to make.
The error radius only grows — treat the position as a disc, never a point.
DRIVE
Manual drive is locked during an alert: the rover
holds position so four gearmotors are not drowning the microphone.
PROTOCOLS
9-BIT TELEMETRY WORD
—
Fixed width with a leading 0 and a trailing 1. A receiver frames the
word without a length field, and a stuck line (all zeros or all ones) fails the
marker check instead of decoding as a valid state. This is an encoding, not
encryption — the link carries no secrets.