Sending commands: Sending commands is done through the Bluetooth communication class's method sendToRobot(int []) it takes an array of int, with size 4. The first integer in the array is the opcode (reference the Brick file to see what the opcodes should be) the next 3 integers are options that can be parsed for some commands (like for example speed and direction of movement for a movement command);

Receiving commands: Receiving commands from the Brick is done through the Bluetooth communication class's method receiveFromRobot() which returns array of 4 integers. You can program those from the Brick.

Communication tests: Currently communication tests pass, with 19.7 packets sent per second, 1000 packages sent 0 packages lost.

Team: Maithreyi Venkatesh Marija Pinkute Simona Petrova Mona Paun Jakov Smelkin Bachir Djelmami-Hani Alex Adams Nikolay Bogoychev