Robot Mower Communications Standard: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→Application control) |
(→Robot sensor event (sensor values, sensor trigger counters)) |
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===Robot sensor event (sensor values, sensor trigger counters)=== | ===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> | $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, 19:36 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)
- 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
