MeldingsProtokoll

//Handshake
JSONObject handshake = new JSONObject();                //HandshakeMessage
handshake.put("r", "Arduino");                          //RobotName
handshake.put("m", 2);                                  //MessageType
handshake.put("w", 10.0);                               //RobotWidth
handshake.put("l", 20.0);                               //RobotLength
handshake.put("to", new double[]{0.0, 0.0});            //TowerOffset
handshake.put("ao", 0.0);                               //AxleOffset
handshake.put("so", new double[]{0.0, 0.0, 0.0, 0.0});  //SensorOffset
handshake.put("dl", 200);                               //MessageDeadline
JSONObject irsensorheading = new JSONObject();
irsensorheading.put("s1", 0);                           //IRsensorHeading
irsensorheading.put("s2", 90);                          //IRsensorHeading
irsensorheading.put("s3", 180);                         //IRsensorHeading
irsensorheading.put("s4", 270);                         //IRsensorHeading
handshake.put("irh", irsensorheading);
inbox.putMessage(handshake);

//Update
JSONObject update = new JSONObject();               //UpdateMessage
JSONObject position = new JSONObject();
position.put("p1", 0);                              //RobotXpos
position.put("p2", 0);                              //RobotYpos
JSONObject irsensordata = new JSONObject();
irsensordata.put("s1", 10);                         //IRsensorData
irsensordata.put("s2", 15);                         //IRsensorData
irsensordata.put("s3", 10);                         //IRsensorData
irsensordata.put("s4", 15);                         //IRsensorData
irsensorheading = new JSONObject();
irsensorheading.put("s1", 0);                       //IRsensorHeading
irsensorheading.put("s2", 90);                      //IRsensorHeading
irsensorheading.put("s3", 180);                     //IRsensorHeading
irsensorheading.put("s4", 270);                     //IRsensorHeading
update.put("r", "1");                               //RobotID
update.put("m", 1);                                 //MessageType
update.put("pd", position);                         //PositionData
update.put("o", 0.0);                               //Orientation
update.put("irh", irsensorheading);                 //IRHeading
update.put("ird", irsensordata);                    //IRData
inbox.putMessage(update);