I have started a Wiki that records my work on reverse engineering the protocol. There are some code snippets in the documentation.
It is on BitBucket where I’ll eventually put a C++ implementation in a repository. I’ll update code when the final specification is available.
It would be nice if this thread consolidated the information people glean from code or we obtain from Sphero.
You’ll notice in the Wiki I’ve included information that I have not tested or implemented. Also areas where I’ve seen hints but don’t know details. If you can elaborate on any of this please comment in reply and I’ll add the information. As I implement items I’ll remove the tentative indicators.