This project describes the communication protocol to be used for humanoid league, it is based upon Protobuf.

2 Referentials are considered for the messages, self and field. Only SI units are used.

• Field:
  • Center is 0,0
  • X-axis goes from center to opposite goal
  • Y-axis goes from center toward left side of the field while facing opposite goal
• Self:
  • Center is the robot position
  • X-axis goes in front of the robot
  • Y-axis goes to the left of the robot