> ## Documentation Index
> Fetch the complete documentation index at: https://docs.kobot.io/llms.txt
> Use this file to discover all available pages before exploring further.

# ACS Protocol

### Charger Protocol

#### Probing and Connection

| Channel | From    | To      | Meaning                                                                                 |
| :------ | :------ | :------ | :-------------------------------------------------------------------------------------- |
| **360** | CCU     | Charger | `ACS,hello,CHARGER` - Probe for a control system.                                       |
| **360** | Charger | CCU     | `ACS,welcome,device,information[...]` - Controller reports existence.                   |
| **360** | CCU     | Charger | `ACS,interface,CHARGER` - Request an interface.                                         |
| **360** | Charger | CCU     | `ACS,interface,channel` - Provide communication channel (large random negative number). |
| **360** | CCU     | Charger | `ACS,refuse,reason` - CCU may refuse the connection.                                    |

Once connected, the charger and CCU communicate exclusively on the specified channel.

### Initialization Messages

*Sent by CCU after connection:*

| Channel     | Message                   | Meaning                                            |
| :---------- | :------------------------ | :------------------------------------------------- |
| **channel** | `ACS,powertype:EL`        | Unit uses electrical power. Required for charging. |
| **channel** | `ACS,maxcharge:maxcharge` | Unit's maximum charge capacity in ticks.           |

*Requested by Charger after connection:*

| Channel     | Message               | Meaning                                                    |
| :---------- | :-------------------- | :--------------------------------------------------------- |
| **channel** | `ACS,chargersummary:` | Request information about the unit's current charge state. |

**Reply Format:** `power,chargepct,tickstofull`

### Normal Charging Sequence

| Channel     | From    | To      | Meaning                                                     |
| :---------- | :------ | :------ | :---------------------------------------------------------- |
| **channel** | CCU     | Charger | `ACS,charging:1` - Indicates charging started.              |
| **channel** | Charger | CCU     | `ACS,chargeseconds:n` - Provides n ticks of charge.         |
| **channel** | CCU     | Charger | `ACS,chargeticks:ticks` - CCU reports charge level changes. |
| **channel** | CCU     | Charger | `ACS,charging:0` - Indicates charging ended.                |

### Additional Messages (Sent by CCU Anytime)

| Channel     | Message                | Meaning                                                         |
| :---------- | :--------------------- | :-------------------------------------------------------------- |
| **channel** | `ACS,dump:key,string`  | Debugging info for a specific script in the charger.            |
| **channel** | `ACS,unitdisconnect:n` | Allow (n=1) or prevent (n=0) unit disconnection while charging. |
| **channel** | `ACS,power:n`          | Unit power ON (n=1) or OFF (n=0).                               |
| **channel** | `ACS,stopcharge:`      | Signals the charger to stop charging.                           |
| **channel** | `ACS,travel:n`         | Allow (n=1) or prevent (n=0) the unit from moving.              |

### Disconnect Sequence

| Channel     | From    | To      | Meaning                                                               |
| :---------- | :------ | :------ | :-------------------------------------------------------------------- |
| **channel** | CCU     | Charger | `ACS,disconnect:` - Tell CCU to disconnect.                           |
| **channel** | CCU     | Charger | `ACS,goodbye:` - Indicates CCU is disconnecting.                      |
| **360**     | Charger | CCU     | `ACS,goodbye:` - Sent by charger if CCU resets (losing channel info). |