Robot Mower Communications Standard: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→Robot state event (robot state, errors, battery)) |
(→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, | + | $RMSENS,bl,br,bc,pfl,pfr,pfc,prl,prr,prc,ih,ip,ir,ga,go<cr><lf> |
| − | *bumperLeft | + | *bl: bumperLeft |
| − | *bumperRight | + | *br: bumperRight |
| − | *bumperCenter | + | *bc: bumperCenter |
| − | *perimeterFrontLeft | + | *pfl: perimeterFrontLeft |
| − | *perimeterFrontRight | + | *pfr: perimeterFrontRight |
| − | *perimeterFrontCenter | + | *pfc: perimeterFrontCenter |
| − | *perimeterRearLeft | + | *prl: perimeterRearLeft |
| − | *perimeterRearRight | + | *prr: perimeterRearRight |
| − | *perimeterRearCenter | + | *prc: perimeterRearCenter |
| − | *IMUcompassHeading | + | *ih: IMUcompassHeading |
| − | *IMUpitch | + | *ip: IMUpitch |
| − | *IMUroll | + | *pr: IMUroll |
| − | *GPSlatitude | + | *ga: GPSlatitude |
| − | *GPSlongitude | + | *go: GPSlongitude |
* | * | ||
Version vom 7. Januar 2017, 19:42 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
- Set mowing state (start mowing, stop mowing, go to docking station)
- Robot state event (robot state, errors, battery)
- Robot sensor event (sensor values, sensor trigger counters)
Start mowing
$RMMOW,s<cr><lf>
- s: stop mowing (0), start mowing (1), go to docking station (2)
Robot state event (robot state, errors, battery)
$RMSTAT,s,e,b<cr><lf>
- s: stopped (0), mowing (1)
- e: error
- b: batteryPercent
Robot sensor event (sensor values, sensor trigger counters)
$RMSENS,bl,br,bc,pfl,pfr,pfc,prl,prr,prc,ih,ip,ir,ga,go<cr><lf>
- bl: bumperLeft
- br: bumperRight
- bc: bumperCenter
- pfl: perimeterFrontLeft
- pfr: perimeterFrontRight
- pfc: perimeterFrontCenter
- prl: perimeterRearLeft
- prr: perimeterRearRight
- prc: perimeterRearCenter
- ih: IMUcompassHeading
- ip: IMUpitch
- pr: IMUroll
- ga: GPSlatitude
- go: 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
