Wow rave you really are racing ahead! Great work! and thanks for the further explanations on the different combos of firmware and app WRT working functionality and manifestation of bugs. I almost feel I want to write that lot up in a table of some sort.
Super useful to know that the older firmware spits out debug info in response to receiving BLE commands. I was pondering your proposition that the firmware is the true key to knowing what might be possible. You are right. Both the app and the API exposed in ROS might be using a subset of what is available (although I think we might reaching the limit of what is available/useful with the things already found). That being the case I wouldn’t know where to start trying to get info out of it. One might have more luck with the android app and hope there is a full API buried in there, of which maybe only a subset of functions are used.
I’m guessing/hoping that both the 4 IR sensors/actuators, and the IMU rotational data are available in ROS (and possibly via BLE too) oh and something relating to controlling/talking to/reading the little ATtinys** that are in the peripherals might have benefits down the line. I still not got far with my reading though.
About the peripherals (shields/guns) incidentally… and this is probably a question for @Benerator, does anyone know if the shields with lights in were “controllable”? i.e. did the lights turn on/off or change colour say during combat?
** likely this is what they are, I think they are probably 4’s or 5’s