Overview of commands
Requests and Responses are formed as a string. A Request begins with a key character and ends in_. A response begins with %, contains the original
command and has a list of responses following the = sign.
Requests
| Request | Key | Purpose | Example |
|---|---|---|---|
| GetValue | ? | Retrieve a value or status | ?STTN_ - Requests the current status of the station (stopped or not). |
| SetValue | ^ | Set a specific parameter | ^STNT 1_ - Sets the Station timeout. |
| Action | @ | Command the robot to do something | @TDIR 1_ - Commands the robot to move forward. |
Responses
| Response | Key | Example |
|---|---|---|
| Acknowledge | #ACK | %@TDIR=#ACK_ - Acknowledges the TDIR command. |
| Error | #ERR | %@TDIR=#ERR_ - Indicates an error in the Target Direction command. |
| Unknown | #UNK | %?TDIR=#UNK - Indicates that the queried value is in an unknown state or has not been set. |
| Value | <list> | %?STTN=1616173082013918219 1_ - Returns the timestamp (nanoseconds) and value 1 for the STTN command. |
Available Commands
| CMD | Args | Response | Description |
|---|---|---|---|
?STTN | - | ts bool | Returns timestamp and True if currently stopped at a station. |
?SYSP | - | ts bool | Returns timestamp and True if the system is powered on and available. |
?TDIR | - | ts int | Gets the Target Direction in autonomy mode. Result will be -1, 0, or 1 for Reverse, Paused, and Forward respectively. |
?RSPD | - | ts float float | Gets linear and rotational velocity in that order of the robot at the returned time stamp. |
?RGPS | - | ts float float | Gets the latitude and longitude in that order of the robot at the antenna at the returned time stamp. |
@TDIR | int | ack | Sets the Target Direction in autonomy mode. This will move the robot in the desired direction. Send -1, 0, or 1 for Reverse, Paused, and Forward respectively. Mimics the Forward/Back/Stop buttons on the robot. |
^RSPD | float | ack | Sets the speed the robot will travel at in manual control, row follow, and retrace. Accepted speeds limited to a value between 0.5 and 1.6 |
String Datatypes
| Type | Description | Examples |
|---|---|---|
bool | True / False | 1 / 0 |
ts | System timestamp in nanoseconds (Epoch / UTC) | 1616173082013918219 |
int | Integer | 213, -31 |
float | Floating point number | 8.123, -3.14159 |