Robot Mower Communications Standard: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→Actor and sensor control) |
(→Application control) |
||
Zeile 20: | Zeile 20: | ||
*Stop mowing | *Stop mowing | ||
*Go to docking station | *Go to docking station | ||
− | *Robot state event (robot state, errors, sensor values, sensor trigger counters) | + | *Robot state event (robot state, errors, battery) |
+ | example: $RMSTAT,1,0,43<cr><lf> | ||
+ | **state: stopped (0), mowing (1) | ||
+ | **error | ||
+ | **batteryPercent | ||
+ | |||
+ | *Robot sensor event (sensor values, sensor trigger counters) | ||
+ | $RMSENS,0,1983,1740,0,0,454,555,0,0,0,179,15,12,52.267312,8.609331<cr><lf> | ||
+ | **bumperLeft | ||
+ | **bumperRight | ||
+ | **bumperCenter | ||
+ | **perimeterFrontLeft | ||
+ | **perimeterFrontRight | ||
+ | **perimeterFrontCenter | ||
+ | **perimeterRearLeft | ||
+ | **perimeterRearRight | ||
+ | **perimeterRearCenter | ||
+ | **IMUcompassHeading | ||
+ | **IMUpitch | ||
+ | **IMUroll | ||
+ | **GPSlatitude | ||
+ | **GPSlongitude | ||
+ | ** | ||
==Actor and sensor control== | ==Actor and sensor control== |
Version vom 7. Januar 2017, 19:34 Uhr
Describes message format used to externally control a robot mower (e.g. Ardumower-based).
Inhaltsverzeichnis
Requirements
- Serial interface (or serial USB)
- ...
Message format
Not defined yet (ideas: NMEA 0183, SAE J1939, ...)
Messages
System control
- Get implemented message types:
- application control
- actor and sensor control
- propriertary
Application control
- Start mowing
- Stop mowing
- Go to docking station
- Robot state event (robot state, errors, battery)
example: $RMSTAT,1,0,43<cr><lf>
- state: stopped (0), mowing (1)
- error
- batteryPercent
- Robot sensor event (sensor values, sensor trigger counters)
$RMSENS,0,1983,1740,0,0,454,555,0,0,0,179,15,12,52.267312,8.609331<cr><lf>
- bumperLeft
- bumperRight
- bumperCenter
- perimeterFrontLeft
- perimeterFrontRight
- perimeterFrontCenter
- perimeterRearLeft
- perimeterRearRight
- perimeterRearCenter
- IMUcompassHeading
- IMUpitch
- IMUroll
- GPSlatitude
- GPSlongitude
Actor and sensor control
- Get mower configuration (type of sensors):
- Docking station available
- Perimeter sensor available (front: left, right, center - rear: left, right, center)
- IMU available
- Compass available
- Odometry available
- GPS available
- Rotate by x degrees and move with speed y RPM until sensor trigger
- Keep ongoing action (mower communications saftety)
- Robot state event (robot state, errors, sensor values, sensor trigger counters)
Proprietary
- Any proprietary messages not defined by this protocol