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 # Otto
-Material regarding my stage with Iralab, designing and realizing a 2 wheeled robot.
+
+Firmware for Otto's controlboard. Otto is a differential drive robot.
+
+The main program is located in [otto_controller](https://github.com/iralabdisco/otto/tree/master/otto_controller).
+
+## Instructions
 
 If you just want to use the robot you can download the binary file from the [releases](https://github.com/iralabdisco/otto/releases): 
+
 1. Download the lastest otto_controller.bin
 2. Plug your Nucleo boart to the PC.
 3. Copy and paste the .bin file inside your board.
 
-The main program is located in [otto_controller](https://github.com/iralabdisco/otto/tree/master/otto_controller).
+## Coding a driver for otto
+
+You will need to have a way to open a serial port on your PC.
+
+1. Before doing anything reset the MCU using the DTR pin in the serial port.
+2. The MCU will then wait to receive a ConfigMessage.
+3. After the config message is received the PID loop control starts.
+4. Every time a VelocityMessage is received Otto will send a StatusMessage.
 
-See the [wiki](https://github.com/iralabdisco/otto/wiki) for more info about this projects.
+Refer to [otto_messages.h](https://github.com/iralabdisco/otto_stm32/blob/master/otto_controller/Core/Inc/communication/otto_messages.h) to see how the messages are structured.
+
+The CRC standard used is CRC-32/MPEG-2, tested with python package [crccheck](https://pythonhosted.org/crccheck/crccheck.html)
 
 ## Coding style
+
 Follow [Google C++ guideline](https://google.github.io/styleguide/cppguide.html) while working on the project
 
 Eclipse's formatting configuration file can be found [here](https://github.com/google/styleguide/blob/gh-pages/eclipse-cpp-google-style.xml)