botracked
Telemetry monitor, and mission scripting suite for tracked robotic platforms
Project maintained by vroncevic Hosted on GitHub Pages — Theme by mattgraham
Tracked Robot Control Studio & Telemetry Monitor
botracked is a modular Python desktop application, telemetry monitor, and mission scripting suite for tracked robotic platforms.
Developed in python code.
The README is used to introduce the modules and provide instructions on how to install the modules, any machine dependencies it may have and any other information that should be provided before the modules are installed.
Table of Contents
- 🚀 Installation
- 📦 Dependencies
- 📁 Tool structure
- 📊 Code coverage
- 🛠 Usage
- 📚 Docs
- 👥 Contributing
- 📄 Copyright and licence
🚀 Installation
Used next development environment
Currently there are three ways to install package
- Install process based on using pip mechanism
- Install process based on build mechanism
- Install process based on setup.py mechanism
- Install process based on docker mechanism
Install using pip
botracked is located at pypi.org.
You can install by using pip
# python3
pip3 install botracked
Install using build
Navigate to release page download and extract release archive.
To install botracked type the following
tar xvzf botracked-x.y.z.tar.gz
cd botracked-x.y.z/
# python3
wget https://bootstrap.pypa.io/get-pip.py
python3 get-pip.py
python3 -m pip install --upgrade setuptools
python3 -m pip install --upgrade pip
python3 -m pip install --upgrade build
pip3 install -r requirements.txt
python3 -m build --no-isolation --wheel
pip3 install ./dist/botracked-*-py3-none-any.whl
rm -f get-pip.py
chmod 755 /usr/local/lib/python3.10/dist-packages/usr/local/bin/botracked_run.py
ln -s /usr/local/lib/python3.10/dist-packages/usr/local/bin/botracked_run.py /usr/local/bin/botracked_run.py
Install using py setup
Navigate to release page download and extract release archive.
To install botracked locate and run setup.py with arguments
tar xvzf botracked-x.y.z.tar.gz
cd botracked-x.y.z
# python3
pip3 install -r requirements.txt
python3 setup.py install_lib
python3 setup.py install_egg_info
Install using docker
You can use Dockerfile to create image/container.
📦 Dependencies
botracked requires next modules and libraries
📁 Tool structure
botracked is based on OOP and Clean Architecture.
Tool structure
Click to expand framework structure</summary>
botracked/
├── core/
│ ├── __init__.py
│ ├── model/
│ │ ├── connection_params.py
│ │ ├── dsl/
│ │ │ ├── ast_instruction.py
│ │ │ ├── compiled_step.py
│ │ │ ├── __init__.py
│ │ │ ├── token.py
│ │ │ └── token_type.py
│ │ ├── __init__.py
│ │ ├── motion_command.py
│ │ ├── protocol_opcode.py
│ │ └── telemetry_data.py
│ └── service/
│ ├── bot_motion_service.py
│ ├── bot_service.py
│ ├── bot_telemetry_service.py
│ ├── communication/
│ │ ├── ibinary_codec.py
│ │ ├── ibot_transport.py
│ │ ├── icrc8_calculator.py
│ │ ├── __init__.py
│ │ └── itelemetry_observer.py
│ ├── dsl/
│ │ ├── __init__.py
│ │ ├── itbot_compiler.py
│ │ ├── itbot_dsl_service.py
│ │ ├── itbot_lexer.py
│ │ ├── itbot_parser.py
│ │ ├── tbot_compiler.py
│ │ ├── tbot_dsl_service.py
│ │ ├── tbot_lexer.py
│ │ └── tbot_parser.py
│ ├── ibot_connection_service.py
│ ├── ibot_mission_service.py
│ ├── ibot_motion_service.py
│ ├── ibot_service.py
│ ├── ibot_telemetry_service.py
│ ├── __init__.py
│ ├── mission_runner.py
│ └── telemetry_poller.py
├── engine.py
├── infrastructure/
│ ├── cli/
│ │ ├── engine.py
│ │ ├── icli.py
│ │ ├── __init__.py
│ │ └── setup/
│ │ ├── bundle.py
│ │ ├── dep_validator.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── keys.py
│ │ ├── opt_validator.py
│ │ ├── options.py
│ │ ├── registry.py
│ │ └── validator.py
│ ├── command/
│ │ ├── command.py
│ │ ├── icommand_definition.py
│ │ ├── icommand_executor.py
│ │ ├── __init__.py
│ │ ├── studio_command_definition.py
│ │ └── studio_command_executor.py
│ ├── communication/
│ │ ├── binary_codec.py
│ │ ├── crc8_calculator.py
│ │ ├── __init__.py
│ │ ├── preferences/
│ │ │ ├── connection_preferences_repository.py
│ │ │ └── __init__.py
│ │ ├── serial_transport.py
│ │ └── tcp_transport.py
│ ├── config/
│ │ ├── botracked.cfg
│ │ ├── botracked.logo
│ │ └── scheme.json
│ ├── gui/
│ │ ├── connection/
│ │ │ ├── connection_callbacks.py
│ │ │ ├── connection_panel.py
│ │ │ ├── connection_panel_config.py
│ │ │ └── __init__.py
│ │ ├── controls/
│ │ │ ├── __init__.py
│ │ │ ├── jog_panel.py
│ │ │ ├── jog_panel_callbacks.py
│ │ │ └── jog_panel_config.py
│ │ ├── editor/
│ │ │ ├── dsl_editor_panel.py
│ │ │ ├── dsl_editor_panel_config.py
│ │ │ ├── dsl_preset_loader.py
│ │ │ ├── dsl_syntax_highlighter.py
│ │ │ ├── dsl_syntax_highlighter_config.py
│ │ │ ├── __init__.py
│ │ │ └── mission_callbacks.py
│ │ ├── engine.py
│ │ ├── gui_config.py
│ │ ├── gui_event_mediator.py
│ │ ├── igui.py
│ │ ├── __init__.py
│ │ ├── stream/
│ │ │ ├── __init__.py
│ │ │ ├── log_panel.py
│ │ │ └── log_panel_config.py
│ │ ├── telemetry/
│ │ │ ├── __init__.py
│ │ │ ├── telemetry_panel.py
│ │ │ └── telemetry_panel_config.py
│ │ └── theme/
│ │ ├── colors.py
│ │ ├── __init__.py
│ │ └── style.py
│ └── __init__.py
├── __init__.py
└── setup/
├── bundle.py
├── dep_validator.py
├── dependencies.py
├── factory.py
├── __init__.py
├── keys.py
├── opt_validator.py
├── options.py
├── registry.py
└── validator.py
22 directories, 107 files
</details>
🏗 Architecture & SOLID Principles
botracked is built on a strictly decoupled, Layered Clean Architecture where presentation, domain logic, AST compilation, and hardware communication are segregated through pure Python protocols:
┌─────────────────────────────────────────────────────────┐
│ BotrackedGUI │ (Presenter / Main Window)
└────────────────────────────┬────────────────────────────┘
│ Mediates UI Events via GUIEventMediator
┌─────────────────────────┬───────────┴─────────────┬──────────────────────────┐
▼ ▼ ▼ ▼
┌──────────────────┐ ┌─────────────────┐ ┌───────────────────┐ ┌──────────────────┐
│ ConnectionPanel │ │ JogPanel │ │ DSLEditorPanel │ │ TelemetryPanel │
│(Serial / TCP/IP) │ │(D-Pad Controls) │ │ (Script & Runner) │ │ (Gauges & Faults)│
└────────┬─────────┘ └────────┬────────┘ └─────────┬─────────┘ └────────┬─────────┘
│ │ │ │
└────────────┬────────────┴─────────────────────────┴─────────────────────────┘
│ Observes / Commands IBotService
▼
┌──────────────────────────┐
│ BotService │ (Application Facade / Coordinator)
└────────────┬─────────────┘
│
┌────────────┴────────────┬────────────────────────┬──────────────────────────┐
▼ ▼ ▼ ▼
┌──────────────────┐ ┌──────────────────┐ ┌─────────────────┐ ┌──────────────────┐
│ BotMotionService │ │BotTelemetryServ. │ │ MissionRunner │ │ TBotDslService │
│(Kinematic Drive) │ │ (State & Poller) │ │ (Step Execution)│ │ (Lexer & Parser) │
└────────┬─────────┘ └────────┬─────────┘ └────────┬────────┘ └────────┬─────────┘
│ │ │ │
└────────────┬────────────┴────────────────────────┘ ▼
│ Dispatches Packets via IBotTransport ┌──────────────────┐
▼ │ TBotCompiler │
┌──────────────────────────┐ └──────────────────┘
│ Serial / TCP Transport │
└────────────┬─────────────┘
│ Frames Packets via IBinaryCodec & ICrc8Calculator
▼
┌──────────────────────────┐
│ BinaryCodec & CRC8 Calc │
└──────────────────────────┘
SOLID Principles Compliance
- S — Single Responsibility Principle (SRP):
- Every module and class has exactly one clearly bounded reason to change.
- Parser, lexer, and compiler logic is decomposed into dedicated handlers (
TBotLexer, TBotParser, TBotCompiler, TBotDslService) rather than a monolithic interpreter.
- GUI tabs are decomposed into panel configs, callbacks, and layout managers.
- Enforced by automated gate: strict limit of $\le 15$ methods per class across the entire codebase.
- O — Open/Closed Principle (OCP):
- The DSL parser, compiler, and binary codec are open for extension without modifying existing code.
- New motion opcodes and instructions plug into dedicated registries dynamically.
- L — Liskov Substitution Principle (LSP):
- Pure structural subtyping via Python
@runtime_checkable Protocol definitions. Concrete classes never inherit concrete logic, ensuring complete interchangeability.
- I — Interface Segregation Principle (ISP):
- Clients depend only on the minimal interfaces they require (
IBotService, IBotMotionService, IBotTelemetryService, IBotTransport, IBinaryCodec, ICrc8Calculator).
- D — Dependency Inversion Principle (DIP):
- Core domain entities and services have zero dependencies on lower-level infrastructure (pyserial drivers, sockets, UI widgets). All dependencies are injected via protocols.
Automated Quality Gates (run_quality_gates.sh)
Every build is validated against 4 strict automated quality gates:
- Structural Protocols Gate: Verifies 100% compliance with
@runtime_checkable Protocol structural typing.
- Interface Segregation Gate (ISP): Verifies that no bloated or unused interfaces exist.
- Module Limits Gate: Enforces file length ($\le 300$ lines) and line length limits ($\le 100$ characters).
- Single Responsibility Gate (SRP): Strictly enforces $\le 15$ methods per class.
✨ Features
- Dual Transport Support: Multi-channel USB Serial (
/dev/ttyUSB0 @ 115200 baud) and low-latency TCP Socket (127.0.0.1:8888 or WiFi IP) streaming.
- Interactive Jog & Navigation Cockpit: Real-time D-Pad buttons for Forward, Backward, Skid-Turns, In-Place Spins, and instant Emergency Stop with keyboard key bindings (
W, A, S, D, Q, E, Space).
- Tracked Robot Mission DSL (
.track): Full declarative scripting pipeline featuring lexical tokenizer, syntax parser, AST builder, and binary opcode compiler with Step, Run, Pause, and Resume execution controls.
- Real-Time Telemetry Dashboard: Live monitoring of system operational mode (
NORMAL, DEGRADED, PANIC), kinematic track speeds, hardware fault counters, motor lock status, and round-trip ping latency.
- Terminal Packet Inspector: Bi-directional packet visualizer logging raw TX/RX frames with sequence counters, opcode labels, hex payloads, and CRC-8 integrity verification.
- Robust CRC-8 Dallas/Maxim Codec: High-integrity binary packet framing protocol with start-of-frame synchronization, opcode mapping, dynamic payload lengths, and checksum verification.
- Strict Quality & SOLID Standards: 100% protocol conformity, zero ISP/SRP violations, $\ge 78\%$ test coverage, and 10.00 / 10.00 Pylint score.
📜 Tracked Bot Domain-Specific Language (DSL) & .track Programs
botracked includes a dedicated Domain-Specific Language designed specifically for tracked mobile robots. Programs are written in plain text files with the .track extension:
┌─────────────────────────┐
│ .track Source │
└────────────┬────────────┘
│ TBotLexer
▼
┌─────────────────────────┐
│ Token Stream │
└────────────┬────────────┘
│ TBotParser
▼
┌─────────────────────────┐
│ Abstract AST │
└────────────┬────────────┘
│ TBotCompiler
▼
┌─────────────────────────┐
│ Compiled Steps │ (Binary Packets & Delays)
└─────────────────────────┘
Tracked Bot DSL Instruction Reference
Category
Instruction & Syntax
Parameters
Description
Motion
FORWARD [duration]Optional duration (e.g. 2.0s, 500ms)
Drives both tracks forward at active speed.
BACKWARD [duration]Optional duration
Drives both tracks in reverse at active speed.
TURN_LEFT [duration]Optional duration
Differential left skid-turn (left stopped, right forward).
TURN_RIGHT [duration]Optional duration
Differential right skid-turn (right stopped, left forward).
SPIN_LEFT [duration]Optional duration
In-place counter-clockwise spin (left reverse, right forward).
SPIN_RIGHT [duration]Optional duration
In-place clockwise spin (left forward, right reverse).
STOPNone
Immediate kinematic stop (PWM = 0).
Dynamics
SPEED <pwm>pwm (60 to 255)Sets active drive PWM velocity for subsequent motions.
WAIT <duration>Duration (e.g. 1.5s, 250ms)
Dwells execution for specified hardware duration.
System
PINGNone
Transmits keepalive frame and calculates ping latency.
CLEAR_ERRORSNone
Clears active error latches and resets fault counters.
Example .track Program: Autonomous Perimeter Patrol
# ----------------------------------------------------
# Autonomous Perimeter Patrol Mission
# ----------------------------------------------------
SPEED 180
PING
WAIT 200ms
# Leg 1: Drive forward along north boundary
FORWARD 3.0s
WAIT 500ms
# Rotate 90 degrees right in place
SPIN_RIGHT 1.2s
WAIT 300ms
# Leg 2: Drive forward along east boundary
FORWARD 3.0s
WAIT 500ms
# Rotate 90 degrees right in place
SPIN_RIGHT 1.2s
WAIT 300ms
# Leg 3: Return to home position
FORWARD 3.0s
STOP
CLEAR_ERRORS
📡 Binary Packet Communication Protocol & Framing
All communication between botracked and the physical or virtual robot uses a framed binary protocol protected by Dallas/Maxim CRC-8:
- Frame Layout:
[0xAA] [0x55] [OPCODE] [LEN] [PAYLOAD...] [CRC8]
- Header:
0xAA 0x55 (Start of Frame synchronization marker).
- Opcode: 1-byte command or response identifier.
- Length: 1-byte payload length ($0 \dots 255$).
- Payload: Raw parameter bytes corresponding to opcode.
- CRC-8: Computed over
OPCODE + LEN + PAYLOAD using polynomial $x^8 + x^5 + x^4 + 1$ (0x31, init 0x00).
Command Frames (PC $\to$ Robot)
Opcode
Name
Payload Length
Description
0x01CMD_PING0
Heartbeat request frame.
0x02CMD_EMERGENCY_STOP0
Immediate safety motor lockout.
0x03CMD_CLEAR_ERRORS0
Reset fault registers and alarm flags.
0x10CMD_MOTION_STOP0
Kinematic deceleration to zero.
0x11CMD_MOTION_FORWARD1 (PWM)
Forward drive at specified velocity.
0x12CMD_MOTION_BACKWARD1 (PWM)
Reverse drive at specified velocity.
0x13CMD_MOTION_TURN_LEFT1 (PWM)
Left differential skid-turn.
0x14CMD_MOTION_TURN_RIGHT1 (PWM)
Right differential skid-turn.
0x15CMD_MOTION_SPIN_LEFT1 (PWM)
Counter-clockwise in-place spin.
0x16CMD_MOTION_SPIN_RIGHT1 (PWM)
Clockwise in-place spin.
0x20CMD_REQ_TELEMETRY0
Request full telemetry snapshot.
Telemetry Frames (Robot $\to$ PC)
Opcode
Name
Payload Length
Description
0x81RESP_PONG0
Heartbeat response.
0x90RESP_TELEMETRY8
Packed telemetry data (mode, error code, fault count, left PWM, right PWM, watchdog flag, motor lock).
0xFFRESP_ERROR1 (ERROR_CODE)
Error status alert packet.
📊 Code coverage
Click to expand code coverage</summary>
Name
Stmts
Miss
Cover
botracked/__init__.py9
0
100%
botracked/core/__init__.py9
0
100%
botracked/core/model/__init__.py9
0
100%
botracked/core/model/connection_params.py29
5
83%
botracked/core/model/dsl/__init__.py9
0
100%
botracked/core/model/dsl/ast_instruction.py33
9
73%
botracked/core/model/dsl/compiled_step.py23
2
91%
botracked/core/model/dsl/token.py22
2
91%
botracked/core/model/dsl/token_type.py30
0
100%
botracked/core/model/motion_command.py29
7
76%
botracked/core/model/protocol_opcode.py30
3
90%
botracked/core/model/telemetry_data.py74
38
49%
botracked/core/service/__init__.py9
0
100%
botracked/core/service/bot_motion_service.py55
13
76%
botracked/core/service/bot_service.py68
17
75%
botracked/core/service/bot_telemetry_service.py60
25
58%
botracked/core/service/communication/__init__.py9
0
100%
botracked/core/service/communication/ibinary_codec.py14
14
0%
botracked/core/service/communication/ibot_transport.py18
18
0%
botracked/core/service/communication/icrc8_calculator.py14
14
0%
botracked/core/service/communication/itelemetry_observer.py16
0
100%
botracked/core/service/dsl/__init__.py9
0
100%
botracked/core/service/dsl/itbot_compiler.py16
16
0%
botracked/core/service/dsl/itbot_dsl_service.py15
15
0%
botracked/core/service/dsl/itbot_lexer.py15
15
0%
botracked/core/service/dsl/itbot_parser.py16
16
0%
botracked/core/service/dsl/tbot_compiler.py67
8
88%
botracked/core/service/dsl/tbot_dsl_service.py35
0
100%
botracked/core/service/dsl/tbot_lexer.py67
4
94%
botracked/core/service/dsl/tbot_parser.py116
22
81%
botracked/core/service/ibot_connection_service.py16
0
100%
botracked/core/service/ibot_mission_service.py18
0
100%
botracked/core/service/ibot_motion_service.py20
0
100%
botracked/core/service/ibot_service.py20
0
100%
botracked/core/service/ibot_telemetry_service.py18
0
100%
botracked/core/service/mission_runner.py74
41
45%
botracked/core/service/telemetry_poller.py66
30
55%
botracked/engine.py57
57
0%
botracked/infrastructure/__init__.py9
0
100%
botracked/infrastructure/cli/__init__.py9
0
100%
botracked/infrastructure/cli/engine.py44
12
73%
botracked/infrastructure/cli/icli.py15
0
100%
botracked/infrastructure/cli/setup/__init__.py9
0
100%
botracked/infrastructure/cli/setup/bundle.py22
1
95%
botracked/infrastructure/cli/setup/dep_validator.py36
5
86%
botracked/infrastructure/cli/setup/dependencies.py18
0
100%
botracked/infrastructure/cli/setup/factory.py36
1
97%
botracked/infrastructure/cli/setup/keys.py28
0
100%
botracked/infrastructure/cli/setup/opt_validator.py36
5
86%
botracked/infrastructure/cli/setup/options.py17
0
100%
botracked/infrastructure/cli/setup/registry.py24
1
96%
botracked/infrastructure/cli/setup/validator.py43
5
88%
botracked/infrastructure/command/__init__.py9
0
100%
botracked/infrastructure/command/command.py16
0
100%
botracked/infrastructure/command/icommand_definition.py14
0
100%
botracked/infrastructure/command/icommand_executor.py14
0
100%
botracked/infrastructure/command/studio_command_definition.py24
1
96%
botracked/infrastructure/command/studio_command_executor.py41
16
61%
botracked/infrastructure/communication/__init__.py9
0
100%
botracked/infrastructure/communication/binary_codec.py51
5
90%
botracked/infrastructure/communication/crc8_calculator.py29
0
100%
botracked/infrastructure/communication/preferences/__init__.py9
0
100%
botracked/infrastructure/communication/preferences/connection_preferences_repository.py55
6
89%
botracked/infrastructure/communication/serial_transport.py60
35
42%
botracked/infrastructure/communication/tcp_transport.py63
40
37%
botracked/infrastructure/gui/__init__.py9
0
100%
botracked/infrastructure/gui/connection/__init__.py9
0
100%
botracked/infrastructure/gui/connection/connection_callbacks.py16
0
100%
botracked/infrastructure/gui/connection/connection_panel.py106
28
74%
botracked/infrastructure/gui/connection/connection_panel_config.py25
0
100%
botracked/infrastructure/gui/controls/__init__.py9
0
100%
botracked/infrastructure/gui/controls/jog_panel.py75
10
87%
botracked/infrastructure/gui/controls/jog_panel_callbacks.py19
0
100%
botracked/infrastructure/gui/controls/jog_panel_config.py29
0
100%
botracked/infrastructure/gui/editor/__init__.py9
0
100%
botracked/infrastructure/gui/editor/dsl_editor_panel.py122
29
76%
botracked/infrastructure/gui/editor/dsl_editor_panel_config.py26
0
100%
botracked/infrastructure/gui/editor/dsl_preset_loader.py32
3
91%
botracked/infrastructure/gui/editor/dsl_syntax_highlighter.py50
0
100%
botracked/infrastructure/gui/editor/dsl_syntax_highlighter_config.py25
0
100%
botracked/infrastructure/gui/editor/mission_callbacks.py18
0
100%
botracked/infrastructure/gui/engine.py107
13
88%
botracked/infrastructure/gui/gui_config.py21
0
100%
botracked/infrastructure/gui/gui_event_mediator.py36
9
75%
botracked/infrastructure/gui/igui.py15
0
100%
botracked/infrastructure/gui/stream/__init__.py9
0
100%
botracked/infrastructure/gui/stream/log_panel.py69
19
72%
botracked/infrastructure/gui/stream/log_panel_config.py22
0
100%
botracked/infrastructure/gui/telemetry/__init__.py9
0
100%
botracked/infrastructure/gui/telemetry/telemetry_panel.py90
22
76%
botracked/infrastructure/gui/telemetry/telemetry_panel_config.py27
0
100%
botracked/infrastructure/gui/theme/__init__.py9
0
100%
botracked/infrastructure/gui/theme/colors.py27
0
100%
botracked/infrastructure/gui/theme/style.py43
1
98%
botracked/setup/__init__.py9
0
100%
botracked/setup/bundle.py24
1
96%
botracked/setup/dep_validator.py36
5
86%
botracked/setup/dependencies.py19
0
100%
botracked/setup/factory.py45
2
96%
botracked/setup/keys.py31
0
100%
botracked/setup/opt_validator.py35
2
94%
botracked/setup/options.py16
0
100%
botracked/setup/registry.py32
0
100%
botracked/setup/validator.py48
5
90%
Total
3312
673
80%
</details>
🛠 Usage
Install package
pip3 install botracked
Prepare main entry point by downloading main.py or create your own.
wget -O main.py https://raw.githubusercontent.com/vroncevic/botracked/main/main.py
CLI Command Options
Launch the graphical studio with default configuration:
python3 main.py studio
Launch with initial mission script and verbose logging:
python3 main.py studio --file ./missions/patrol_demo.track --verbose enable
Option
Type
Choices
Description
--filestrFile path
Path to initial mission script (.track) to load on startup.
--verbosestrenable, disableEnable or disable verbose ATS operational logging.
Interactive Mission Planning & Telemetry Workflow
- Connect to Robot Platform:
- Under the Connection panel, select your transport mode:
- Serial USB: Select port (e.g.
/dev/ttyUSB0) and baudrate (115200).
- TCP / Network: Enter the robot IP address (e.g.
192.168.4.1 or 127.0.0.1) and port (8888).
- Click Connect. The status bar reflects connection state and initializes the telemetry polling loop.
- Manual Jog Cockpit:
- Navigate using the interactive D-Pad buttons or keyboard shortcuts (
W, A, S, D, Q, E, Space).
- Adjust drive speed smoothly with the PWM slider ($60 \dots 255$).
- Mission Scripting:
- Open the Mission Studio panel.
- Write or select a bundled
.track mission program from the Preset dropdown.
- Click Validate to verify syntax with the AST parser.
- Click Run Mission for automated execution, or use Step for single-instruction stepping.
- Telemetry & Log Inspection:
- Observe active system modes, track PWMs, error codes, and ping latency on the Telemetry gauges.
- Monitor real-time TX/RX binary packets with timestamps and hex payloads in the Terminal Log.
📚 Docs
More documentation and info at
👥 Contributing
📄 Copyright and licence
Copyright (C) 2026 by vroncevic.github.io/botracked
botracked is free software; you can redistribute it and/or modify
it under the same terms as Python itself, either Python version 3.x or,
at your option, any later version of Python 3 you may have available.
Special thanks to Google and the Google developer ecosystem for their tremendous support and innovative tools from the Google bundle that empowered the development and realization of this project. Google, you make this world a better place! 🌍✨
Lets help and support PSF.
botracked/
├── core/
│ ├── __init__.py
│ ├── model/
│ │ ├── connection_params.py
│ │ ├── dsl/
│ │ │ ├── ast_instruction.py
│ │ │ ├── compiled_step.py
│ │ │ ├── __init__.py
│ │ │ ├── token.py
│ │ │ └── token_type.py
│ │ ├── __init__.py
│ │ ├── motion_command.py
│ │ ├── protocol_opcode.py
│ │ └── telemetry_data.py
│ └── service/
│ ├── bot_motion_service.py
│ ├── bot_service.py
│ ├── bot_telemetry_service.py
│ ├── communication/
│ │ ├── ibinary_codec.py
│ │ ├── ibot_transport.py
│ │ ├── icrc8_calculator.py
│ │ ├── __init__.py
│ │ └── itelemetry_observer.py
│ ├── dsl/
│ │ ├── __init__.py
│ │ ├── itbot_compiler.py
│ │ ├── itbot_dsl_service.py
│ │ ├── itbot_lexer.py
│ │ ├── itbot_parser.py
│ │ ├── tbot_compiler.py
│ │ ├── tbot_dsl_service.py
│ │ ├── tbot_lexer.py
│ │ └── tbot_parser.py
│ ├── ibot_connection_service.py
│ ├── ibot_mission_service.py
│ ├── ibot_motion_service.py
│ ├── ibot_service.py
│ ├── ibot_telemetry_service.py
│ ├── __init__.py
│ ├── mission_runner.py
│ └── telemetry_poller.py
├── engine.py
├── infrastructure/
│ ├── cli/
│ │ ├── engine.py
│ │ ├── icli.py
│ │ ├── __init__.py
│ │ └── setup/
│ │ ├── bundle.py
│ │ ├── dep_validator.py
│ │ ├── dependencies.py
│ │ ├── factory.py
│ │ ├── __init__.py
│ │ ├── keys.py
│ │ ├── opt_validator.py
│ │ ├── options.py
│ │ ├── registry.py
│ │ └── validator.py
│ ├── command/
│ │ ├── command.py
│ │ ├── icommand_definition.py
│ │ ├── icommand_executor.py
│ │ ├── __init__.py
│ │ ├── studio_command_definition.py
│ │ └── studio_command_executor.py
│ ├── communication/
│ │ ├── binary_codec.py
│ │ ├── crc8_calculator.py
│ │ ├── __init__.py
│ │ ├── preferences/
│ │ │ ├── connection_preferences_repository.py
│ │ │ └── __init__.py
│ │ ├── serial_transport.py
│ │ └── tcp_transport.py
│ ├── config/
│ │ ├── botracked.cfg
│ │ ├── botracked.logo
│ │ └── scheme.json
│ ├── gui/
│ │ ├── connection/
│ │ │ ├── connection_callbacks.py
│ │ │ ├── connection_panel.py
│ │ │ ├── connection_panel_config.py
│ │ │ └── __init__.py
│ │ ├── controls/
│ │ │ ├── __init__.py
│ │ │ ├── jog_panel.py
│ │ │ ├── jog_panel_callbacks.py
│ │ │ └── jog_panel_config.py
│ │ ├── editor/
│ │ │ ├── dsl_editor_panel.py
│ │ │ ├── dsl_editor_panel_config.py
│ │ │ ├── dsl_preset_loader.py
│ │ │ ├── dsl_syntax_highlighter.py
│ │ │ ├── dsl_syntax_highlighter_config.py
│ │ │ ├── __init__.py
│ │ │ └── mission_callbacks.py
│ │ ├── engine.py
│ │ ├── gui_config.py
│ │ ├── gui_event_mediator.py
│ │ ├── igui.py
│ │ ├── __init__.py
│ │ ├── stream/
│ │ │ ├── __init__.py
│ │ │ ├── log_panel.py
│ │ │ └── log_panel_config.py
│ │ ├── telemetry/
│ │ │ ├── __init__.py
│ │ │ ├── telemetry_panel.py
│ │ │ └── telemetry_panel_config.py
│ │ └── theme/
│ │ ├── colors.py
│ │ ├── __init__.py
│ │ └── style.py
│ └── __init__.py
├── __init__.py
└── setup/
├── bundle.py
├── dep_validator.py
├── dependencies.py
├── factory.py
├── __init__.py
├── keys.py
├── opt_validator.py
├── options.py
├── registry.py
└── validator.py
22 directories, 107 files
┌─────────────────────────────────────────────────────────┐
│ BotrackedGUI │ (Presenter / Main Window)
└────────────────────────────┬────────────────────────────┘
│ Mediates UI Events via GUIEventMediator
┌─────────────────────────┬───────────┴─────────────┬──────────────────────────┐
▼ ▼ ▼ ▼
┌──────────────────┐ ┌─────────────────┐ ┌───────────────────┐ ┌──────────────────┐
│ ConnectionPanel │ │ JogPanel │ │ DSLEditorPanel │ │ TelemetryPanel │
│(Serial / TCP/IP) │ │(D-Pad Controls) │ │ (Script & Runner) │ │ (Gauges & Faults)│
└────────┬─────────┘ └────────┬────────┘ └─────────┬─────────┘ └────────┬─────────┘
│ │ │ │
└────────────┬────────────┴─────────────────────────┴─────────────────────────┘
│ Observes / Commands IBotService
▼
┌──────────────────────────┐
│ BotService │ (Application Facade / Coordinator)
└────────────┬─────────────┘
│
┌────────────┴────────────┬────────────────────────┬──────────────────────────┐
▼ ▼ ▼ ▼
┌──────────────────┐ ┌──────────────────┐ ┌─────────────────┐ ┌──────────────────┐
│ BotMotionService │ │BotTelemetryServ. │ │ MissionRunner │ │ TBotDslService │
│(Kinematic Drive) │ │ (State & Poller) │ │ (Step Execution)│ │ (Lexer & Parser) │
└────────┬─────────┘ └────────┬─────────┘ └────────┬────────┘ └────────┬─────────┘
│ │ │ │
└────────────┬────────────┴────────────────────────┘ ▼
│ Dispatches Packets via IBotTransport ┌──────────────────┐
▼ │ TBotCompiler │
┌──────────────────────────┐ └──────────────────┘
│ Serial / TCP Transport │
└────────────┬─────────────┘
│ Frames Packets via IBinaryCodec & ICrc8Calculator
▼
┌──────────────────────────┐
│ BinaryCodec & CRC8 Calc │
└──────────────────────────┘
- Every module and class has exactly one clearly bounded reason to change.
- Parser, lexer, and compiler logic is decomposed into dedicated handlers (
TBotLexer,TBotParser,TBotCompiler,TBotDslService) rather than a monolithic interpreter. - GUI tabs are decomposed into panel configs, callbacks, and layout managers.
- Enforced by automated gate: strict limit of $\le 15$ methods per class across the entire codebase.
- The DSL parser, compiler, and binary codec are open for extension without modifying existing code.
- New motion opcodes and instructions plug into dedicated registries dynamically.
- Pure structural subtyping via Python
@runtime_checkable Protocoldefinitions. Concrete classes never inherit concrete logic, ensuring complete interchangeability.
- Clients depend only on the minimal interfaces they require (
IBotService,IBotMotionService,IBotTelemetryService,IBotTransport,IBinaryCodec,ICrc8Calculator).
- Core domain entities and services have zero dependencies on lower-level infrastructure (pyserial drivers, sockets, UI widgets). All dependencies are injected via protocols.
run_quality_gates.sh)@runtime_checkable Protocol structural typing./dev/ttyUSB0 @ 115200 baud) and low-latency TCP Socket (127.0.0.1:8888 or WiFi IP) streaming.W, A, S, D, Q, E, Space)..track): Full declarative scripting pipeline featuring lexical tokenizer, syntax parser, AST builder, and binary opcode compiler with Step, Run, Pause, and Resume execution controls.NORMAL, DEGRADED, PANIC), kinematic track speeds, hardware fault counters, motor lock status, and round-trip ping latency..track Programs.track extension: ┌─────────────────────────┐
│ .track Source │
└────────────┬────────────┘
│ TBotLexer
▼
┌─────────────────────────┐
│ Token Stream │
└────────────┬────────────┘
│ TBotParser
▼
┌─────────────────────────┐
│ Abstract AST │
└────────────┬────────────┘
│ TBotCompiler
▼
┌─────────────────────────┐
│ Compiled Steps │ (Binary Packets & Delays)
└─────────────────────────┘
FORWARD [duration]2.0s, 500ms)BACKWARD [duration]TURN_LEFT [duration]TURN_RIGHT [duration]SPIN_LEFT [duration]SPIN_RIGHT [duration]STOPSPEED <pwm>pwm (60 to 255)WAIT <duration>1.5s, 250ms)PINGCLEAR_ERRORS.track Program: Autonomous Perimeter Patrol# ----------------------------------------------------
# Autonomous Perimeter Patrol Mission
# ----------------------------------------------------
SPEED 180
PING
WAIT 200ms
# Leg 1: Drive forward along north boundary
FORWARD 3.0s
WAIT 500ms
# Rotate 90 degrees right in place
SPIN_RIGHT 1.2s
WAIT 300ms
# Leg 2: Drive forward along east boundary
FORWARD 3.0s
WAIT 500ms
# Rotate 90 degrees right in place
SPIN_RIGHT 1.2s
WAIT 300ms
# Leg 3: Return to home position
FORWARD 3.0s
STOP
CLEAR_ERRORS
[0xAA] [0x55] [OPCODE] [LEN] [PAYLOAD...] [CRC8]0xAA 0x55 (Start of Frame synchronization marker).OPCODE + LEN + PAYLOAD using polynomial $x^8 + x^5 + x^4 + 1$ (0x31, init 0x00).0x01CMD_PING0x02CMD_EMERGENCY_STOP0x03CMD_CLEAR_ERRORS0x10CMD_MOTION_STOP0x11CMD_MOTION_FORWARDPWM)0x12CMD_MOTION_BACKWARDPWM)0x13CMD_MOTION_TURN_LEFTPWM)0x14CMD_MOTION_TURN_RIGHTPWM)0x15CMD_MOTION_SPIN_LEFTPWM)0x16CMD_MOTION_SPIN_RIGHTPWM)0x20CMD_REQ_TELEMETRY0x81RESP_PONG0x90RESP_TELEMETRY0xFFRESP_ERRORERROR_CODE)
Click to expand code coverage</summary>
Name
Stmts
Miss
Cover
botracked/__init__.py9
0
100%
botracked/core/__init__.py9
0
100%
botracked/core/model/__init__.py9
0
100%
botracked/core/model/connection_params.py29
5
83%
botracked/core/model/dsl/__init__.py9
0
100%
botracked/core/model/dsl/ast_instruction.py33
9
73%
botracked/core/model/dsl/compiled_step.py23
2
91%
botracked/core/model/dsl/token.py22
2
91%
botracked/core/model/dsl/token_type.py30
0
100%
botracked/core/model/motion_command.py29
7
76%
botracked/core/model/protocol_opcode.py30
3
90%
botracked/core/model/telemetry_data.py74
38
49%
botracked/core/service/__init__.py9
0
100%
botracked/core/service/bot_motion_service.py55
13
76%
botracked/core/service/bot_service.py68
17
75%
botracked/core/service/bot_telemetry_service.py60
25
58%
botracked/core/service/communication/__init__.py9
0
100%
botracked/core/service/communication/ibinary_codec.py14
14
0%
botracked/core/service/communication/ibot_transport.py18
18
0%
botracked/core/service/communication/icrc8_calculator.py14
14
0%
botracked/core/service/communication/itelemetry_observer.py16
0
100%
botracked/core/service/dsl/__init__.py9
0
100%
botracked/core/service/dsl/itbot_compiler.py16
16
0%
botracked/core/service/dsl/itbot_dsl_service.py15
15
0%
botracked/core/service/dsl/itbot_lexer.py15
15
0%
botracked/core/service/dsl/itbot_parser.py16
16
0%
botracked/core/service/dsl/tbot_compiler.py67
8
88%
botracked/core/service/dsl/tbot_dsl_service.py35
0
100%
botracked/core/service/dsl/tbot_lexer.py67
4
94%
botracked/core/service/dsl/tbot_parser.py116
22
81%
botracked/core/service/ibot_connection_service.py16
0
100%
botracked/core/service/ibot_mission_service.py18
0
100%
botracked/core/service/ibot_motion_service.py20
0
100%
botracked/core/service/ibot_service.py20
0
100%
botracked/core/service/ibot_telemetry_service.py18
0
100%
botracked/core/service/mission_runner.py74
41
45%
botracked/core/service/telemetry_poller.py66
30
55%
botracked/engine.py57
57
0%
botracked/infrastructure/__init__.py9
0
100%
botracked/infrastructure/cli/__init__.py9
0
100%
botracked/infrastructure/cli/engine.py44
12
73%
botracked/infrastructure/cli/icli.py15
0
100%
botracked/infrastructure/cli/setup/__init__.py9
0
100%
botracked/infrastructure/cli/setup/bundle.py22
1
95%
botracked/infrastructure/cli/setup/dep_validator.py36
5
86%
botracked/infrastructure/cli/setup/dependencies.py18
0
100%
botracked/infrastructure/cli/setup/factory.py36
1
97%
botracked/infrastructure/cli/setup/keys.py28
0
100%
botracked/infrastructure/cli/setup/opt_validator.py36
5
86%
botracked/infrastructure/cli/setup/options.py17
0
100%
botracked/infrastructure/cli/setup/registry.py24
1
96%
botracked/infrastructure/cli/setup/validator.py43
5
88%
botracked/infrastructure/command/__init__.py9
0
100%
botracked/infrastructure/command/command.py16
0
100%
botracked/infrastructure/command/icommand_definition.py14
0
100%
botracked/infrastructure/command/icommand_executor.py14
0
100%
botracked/infrastructure/command/studio_command_definition.py24
1
96%
botracked/infrastructure/command/studio_command_executor.py41
16
61%
botracked/infrastructure/communication/__init__.py9
0
100%
botracked/infrastructure/communication/binary_codec.py51
5
90%
botracked/infrastructure/communication/crc8_calculator.py29
0
100%
botracked/infrastructure/communication/preferences/__init__.py9
0
100%
botracked/infrastructure/communication/preferences/connection_preferences_repository.py55
6
89%
botracked/infrastructure/communication/serial_transport.py60
35
42%
botracked/infrastructure/communication/tcp_transport.py63
40
37%
botracked/infrastructure/gui/__init__.py9
0
100%
botracked/infrastructure/gui/connection/__init__.py9
0
100%
botracked/infrastructure/gui/connection/connection_callbacks.py16
0
100%
botracked/infrastructure/gui/connection/connection_panel.py106
28
74%
botracked/infrastructure/gui/connection/connection_panel_config.py25
0
100%
botracked/infrastructure/gui/controls/__init__.py9
0
100%
botracked/infrastructure/gui/controls/jog_panel.py75
10
87%
botracked/infrastructure/gui/controls/jog_panel_callbacks.py19
0
100%
botracked/infrastructure/gui/controls/jog_panel_config.py29
0
100%
botracked/infrastructure/gui/editor/__init__.py9
0
100%
botracked/infrastructure/gui/editor/dsl_editor_panel.py122
29
76%
botracked/infrastructure/gui/editor/dsl_editor_panel_config.py26
0
100%
botracked/infrastructure/gui/editor/dsl_preset_loader.py32
3
91%
botracked/infrastructure/gui/editor/dsl_syntax_highlighter.py50
0
100%
botracked/infrastructure/gui/editor/dsl_syntax_highlighter_config.py25
0
100%
botracked/infrastructure/gui/editor/mission_callbacks.py18
0
100%
botracked/infrastructure/gui/engine.py107
13
88%
botracked/infrastructure/gui/gui_config.py21
0
100%
botracked/infrastructure/gui/gui_event_mediator.py36
9
75%
botracked/infrastructure/gui/igui.py15
0
100%
botracked/infrastructure/gui/stream/__init__.py9
0
100%
botracked/infrastructure/gui/stream/log_panel.py69
19
72%
botracked/infrastructure/gui/stream/log_panel_config.py22
0
100%
botracked/infrastructure/gui/telemetry/__init__.py9
0
100%
botracked/infrastructure/gui/telemetry/telemetry_panel.py90
22
76%
botracked/infrastructure/gui/telemetry/telemetry_panel_config.py27
0
100%
botracked/infrastructure/gui/theme/__init__.py9
0
100%
botracked/infrastructure/gui/theme/colors.py27
0
100%
botracked/infrastructure/gui/theme/style.py43
1
98%
botracked/setup/__init__.py9
0
100%
botracked/setup/bundle.py24
1
96%
botracked/setup/dep_validator.py36
5
86%
botracked/setup/dependencies.py19
0
100%
botracked/setup/factory.py45
2
96%
botracked/setup/keys.py31
0
100%
botracked/setup/opt_validator.py35
2
94%
botracked/setup/options.py16
0
100%
botracked/setup/registry.py32
0
100%
botracked/setup/validator.py48
5
90%
Total
3312
673
80%
</details>
🛠 Usage
Install package
pip3 install botracked
Prepare main entry point by downloading main.py or create your own.
wget -O main.py https://raw.githubusercontent.com/vroncevic/botracked/main/main.py
CLI Command Options
Launch the graphical studio with default configuration:
python3 main.py studio
Launch with initial mission script and verbose logging:
python3 main.py studio --file ./missions/patrol_demo.track --verbose enable
Option
Type
Choices
Description
--filestrFile path
Path to initial mission script (.track) to load on startup.
--verbosestrenable, disableEnable or disable verbose ATS operational logging.
Interactive Mission Planning & Telemetry Workflow
- Connect to Robot Platform:
- Under the Connection panel, select your transport mode:
- Serial USB: Select port (e.g.
/dev/ttyUSB0) and baudrate (115200).
- TCP / Network: Enter the robot IP address (e.g.
192.168.4.1 or 127.0.0.1) and port (8888).
- Click Connect. The status bar reflects connection state and initializes the telemetry polling loop.
- Manual Jog Cockpit:
- Navigate using the interactive D-Pad buttons or keyboard shortcuts (
W, A, S, D, Q, E, Space).
- Adjust drive speed smoothly with the PWM slider ($60 \dots 255$).
- Mission Scripting:
- Open the Mission Studio panel.
- Write or select a bundled
.track mission program from the Preset dropdown.
- Click Validate to verify syntax with the AST parser.
- Click Run Mission for automated execution, or use Step for single-instruction stepping.
- Telemetry & Log Inspection:
- Observe active system modes, track PWMs, error codes, and ping latency on the Telemetry gauges.
- Monitor real-time TX/RX binary packets with timestamps and hex payloads in the Terminal Log.
📚 Docs
More documentation and info at
👥 Contributing
📄 Copyright and licence
Copyright (C) 2026 by vroncevic.github.io/botracked
botracked is free software; you can redistribute it and/or modify
it under the same terms as Python itself, either Python version 3.x or,
at your option, any later version of Python 3 you may have available.
Special thanks to Google and the Google developer ecosystem for their tremendous support and innovative tools from the Google bundle that empowered the development and realization of this project. Google, you make this world a better place! 🌍✨
Lets help and support PSF.
botracked/__init__.pybotracked/core/__init__.pybotracked/core/model/__init__.pybotracked/core/model/connection_params.pybotracked/core/model/dsl/__init__.pybotracked/core/model/dsl/ast_instruction.pybotracked/core/model/dsl/compiled_step.pybotracked/core/model/dsl/token.pybotracked/core/model/dsl/token_type.pybotracked/core/model/motion_command.pybotracked/core/model/protocol_opcode.pybotracked/core/model/telemetry_data.pybotracked/core/service/__init__.pybotracked/core/service/bot_motion_service.pybotracked/core/service/bot_service.pybotracked/core/service/bot_telemetry_service.pybotracked/core/service/communication/__init__.pybotracked/core/service/communication/ibinary_codec.pybotracked/core/service/communication/ibot_transport.pybotracked/core/service/communication/icrc8_calculator.pybotracked/core/service/communication/itelemetry_observer.pybotracked/core/service/dsl/__init__.pybotracked/core/service/dsl/itbot_compiler.pybotracked/core/service/dsl/itbot_dsl_service.pybotracked/core/service/dsl/itbot_lexer.pybotracked/core/service/dsl/itbot_parser.pybotracked/core/service/dsl/tbot_compiler.pybotracked/core/service/dsl/tbot_dsl_service.pybotracked/core/service/dsl/tbot_lexer.pybotracked/core/service/dsl/tbot_parser.pybotracked/core/service/ibot_connection_service.pybotracked/core/service/ibot_mission_service.pybotracked/core/service/ibot_motion_service.pybotracked/core/service/ibot_service.pybotracked/core/service/ibot_telemetry_service.pybotracked/core/service/mission_runner.pybotracked/core/service/telemetry_poller.pybotracked/engine.pybotracked/infrastructure/__init__.pybotracked/infrastructure/cli/__init__.pybotracked/infrastructure/cli/engine.pybotracked/infrastructure/cli/icli.pybotracked/infrastructure/cli/setup/__init__.pybotracked/infrastructure/cli/setup/bundle.pybotracked/infrastructure/cli/setup/dep_validator.pybotracked/infrastructure/cli/setup/dependencies.pybotracked/infrastructure/cli/setup/factory.pybotracked/infrastructure/cli/setup/keys.pybotracked/infrastructure/cli/setup/opt_validator.pybotracked/infrastructure/cli/setup/options.pybotracked/infrastructure/cli/setup/registry.pybotracked/infrastructure/cli/setup/validator.pybotracked/infrastructure/command/__init__.pybotracked/infrastructure/command/command.pybotracked/infrastructure/command/icommand_definition.pybotracked/infrastructure/command/icommand_executor.pybotracked/infrastructure/command/studio_command_definition.pybotracked/infrastructure/command/studio_command_executor.pybotracked/infrastructure/communication/__init__.pybotracked/infrastructure/communication/binary_codec.pybotracked/infrastructure/communication/crc8_calculator.pybotracked/infrastructure/communication/preferences/__init__.pybotracked/infrastructure/communication/preferences/connection_preferences_repository.pybotracked/infrastructure/communication/serial_transport.pybotracked/infrastructure/communication/tcp_transport.pybotracked/infrastructure/gui/__init__.pybotracked/infrastructure/gui/connection/__init__.pybotracked/infrastructure/gui/connection/connection_callbacks.pybotracked/infrastructure/gui/connection/connection_panel.pybotracked/infrastructure/gui/connection/connection_panel_config.pybotracked/infrastructure/gui/controls/__init__.pybotracked/infrastructure/gui/controls/jog_panel.pybotracked/infrastructure/gui/controls/jog_panel_callbacks.pybotracked/infrastructure/gui/controls/jog_panel_config.pybotracked/infrastructure/gui/editor/__init__.pybotracked/infrastructure/gui/editor/dsl_editor_panel.pybotracked/infrastructure/gui/editor/dsl_editor_panel_config.pybotracked/infrastructure/gui/editor/dsl_preset_loader.pybotracked/infrastructure/gui/editor/dsl_syntax_highlighter.pybotracked/infrastructure/gui/editor/dsl_syntax_highlighter_config.pybotracked/infrastructure/gui/editor/mission_callbacks.pybotracked/infrastructure/gui/engine.pybotracked/infrastructure/gui/gui_config.pybotracked/infrastructure/gui/gui_event_mediator.pybotracked/infrastructure/gui/igui.pybotracked/infrastructure/gui/stream/__init__.pybotracked/infrastructure/gui/stream/log_panel.pybotracked/infrastructure/gui/stream/log_panel_config.pybotracked/infrastructure/gui/telemetry/__init__.pybotracked/infrastructure/gui/telemetry/telemetry_panel.pybotracked/infrastructure/gui/telemetry/telemetry_panel_config.pybotracked/infrastructure/gui/theme/__init__.pybotracked/infrastructure/gui/theme/colors.pybotracked/infrastructure/gui/theme/style.pybotracked/setup/__init__.pybotracked/setup/bundle.pybotracked/setup/dep_validator.pybotracked/setup/dependencies.pybotracked/setup/factory.pybotracked/setup/keys.pybotracked/setup/opt_validator.pybotracked/setup/options.pybotracked/setup/registry.pybotracked/setup/validator.pypip3 install botracked
wget -O main.py https://raw.githubusercontent.com/vroncevic/botracked/main/main.py
python3 main.py studio
python3 main.py studio --file ./missions/patrol_demo.track --verbose enable
--filestr.track) to load on startup.--verbosestrenable, disable- Under the Connection panel, select your transport mode:
- Serial USB: Select port (e.g.
/dev/ttyUSB0) and baudrate (115200). - TCP / Network: Enter the robot IP address (e.g.
192.168.4.1or127.0.0.1) and port (8888).
- Serial USB: Select port (e.g.
- Click Connect. The status bar reflects connection state and initializes the telemetry polling loop.
- Navigate using the interactive D-Pad buttons or keyboard shortcuts (
W,A,S,D,Q,E,Space). - Adjust drive speed smoothly with the PWM slider ($60 \dots 255$).
- Open the Mission Studio panel.
- Write or select a bundled
.trackmission program from the Preset dropdown. - Click Validate to verify syntax with the AST parser.
- Click Run Mission for automated execution, or use Step for single-instruction stepping.
- Observe active system modes, track PWMs, error codes, and ping latency on the Telemetry gauges.
- Monitor real-time TX/RX binary packets with timestamps and hex payloads in the Terminal Log.