We need a common interface between the astromech_base node and microcontrollers connected to the PC, which can be implemented on the R-Series, J.E.D.I., and other droid controllers.
Documentation started at https://sourceforge.net/p/astromech-ros/wiki/The%20SARLACC%20protocol/
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Documentation started at https://sourceforge.net/p/astromech-ros/wiki/The%20SARLACC%20protocol/