Update commands to typed protocol format

index.html

@@ -881,7 +881,7 @@
                     updateStatus('connected', 'Connected');
                     enableControls(true);
                     document.getElementById('robotSelector').classList.add('hidden');
-                    stateRefreshInterval = setInterval(() => sendCommand({ get_state: true }), 500);
+                    stateRefreshInterval = setInterval(() => sendCommand({ type: 'get_state' }), 500);
                 } else if (state === 'failed' || state === 'disconnected') {
                     updateStatus('', 'Connection lost');
                 }
@@ -889,7 +889,7 @@
 
             peerConnection.ondatachannel = (e) => {
                 dataChannel = e.channel;
-                dataChannel.onopen = () => sendCommand({ get_state: true });
+                dataChannel.onopen = () => sendCommand({ type: 'get_state' });
                 dataChannel.onmessage = (e) => handleRobotMessage(JSON.parse(e.data));
             };
 
@@ -1102,7 +1102,7 @@
                 const roll = parseFloat(rollSlider.value);
                 const pitch = parseFloat(pitchSlider.value);
                 const yaw = parseFloat(yawSlider.value);
-                sendCommand({ set_target: buildMatrix(yaw, pitch, roll) });
+                sendCommand({ type: 'set_target', head: buildMatrix(yaw, pitch, roll).flat() });
             }
 
             function onSliderStart() {
@@ -1169,7 +1169,7 @@
             function sendAntennas() {
                 const r = parseFloat(rightSlider.value) * Math.PI / 180;
                 const l = parseFloat(leftSlider.value) * Math.PI / 180;
-                sendCommand({ set_antennas: [r, l] });
+                sendCommand({ type: 'set_antennas', antennas: [r, l] });
             }
 
             rightSlider.addEventListener('input', () => {
@@ -1186,12 +1186,12 @@
         // ===================== Sound =====================
         function playSound() {
             const file = document.getElementById('soundInput').value.trim();
-            if (file) sendCommand({ play_sound: file });
+            if (file) sendCommand({ type: 'play_sound', file: file });
         }
 
         function playSoundPreset(file) {
             document.getElementById('soundInput').value = file;
-            sendCommand({ play_sound: file });
+            sendCommand({ type: 'play_sound', file: file });
         }
     </script>
 </body>