Version vom 7. Januar 2017, 19:35 Uhr

Describes message format used to externally control a robot mower (e.g. Ardumower-based).

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)
• Robot sensor event (sensor values, sensor trigger counters)

Robot state event (robot state, errors, battery)

$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