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README.md

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+# Zephyr Sand Table firmware
+
+This repository contains the implementation of Sand Table firmware for the Zephyr RTOS.
+
+The firmware controls 2x stepper motors and RGBW LED strip.
+
+### ACK
+
+Every command returns either an ACK or NACK.
+
+Homing, Step, and Polar commands return separate ACK when the arms are done moving.
+
+### Command Structure
+
+```c
+struct command_message_t {
+    uint8_t prefix;     // 0x69
+    uint8_t length;		// Length of the data
+    uint8_t id;			// 0x00
+    uint8_t command;
+    uint8_t crc;
+    uint8_t data[160];
+} __attribute__((packed));
+```
+
+### Commands
+
+```c
+typedef enum {
+	COMMAND_ACK,
+	COMMAND_NACK,
+	COMMAND_LED,
+	COMMAND_HOME,
+	COMMAND_DISABLE_MOTORS,
+	COMMAND_MOTOR_STEP,
+	COMMAND_MOTOR_SPEED,
+	COMMAND_POLAR,
+	COMMAND_GET_POLAR,
+	COMMAND_SET_OFFSET,
+	COMMAND_RESET_OFFSET,
+} commands_e;
+```
+
+### Python test scripts (AI generated)
+
+* `home.py` = sends homing command
+* `led.py` = sends led command which sends led fade track
+* `position.py` = sends position command and returns the current position
+* `reset_offset.py` = sends reset_offset command
+* `track.py {track name}` = reads a thetarho file and sends polar coordinates line by line