Robot Mower Communications Standard: Unterschied zwischen den Versionen
Aus www.wiki.ardumower.de
(→Robot state event (robot state, errors, battery)) |
(→Rotate and move) |
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Zeile 70: | Zeile 70: | ||
*$RMMOV: Keep ongoing action (mower communications saftety) | *$RMMOV: Keep ongoing action (mower communications saftety) | ||
− | ===Rotate and move=== | + | ===Rotate and move until sensor trigger=== |
$RMMOV,d,r<cr><lf> | $RMMOV,d,r<cr><lf> | ||
*d: rotate degrees | *d: rotate degrees |
Version vom 7. Januar 2017, 20:04 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
- $RMMOW: Set mowing state (start mowing, stop mowing, go to docking station)
- $RMSTA: Robot state event (robot state, errors, battery)
- $RMSEN: Robot sensor event (sensor values, sensor trigger counters)
- $RMCFG: Robot mower configuration (available sensors)
Set mowing state (start,stop,dock)
$RMMOW,s<cr><lf>
- s: stop mowing (0), start mowing (1), go to docking station (2)
Robot state event (robot state, errors, battery)
$RMSTA,s,e,b,h,d<cr><lf>
- s: stopped (0), mowing (1), busy (2)
- e: error
- b: battery percent
- h: absolute compass heading in degree
- d: moved distance in meter since last event
Robot sensor event (sensor values, sensor trigger counters)
$RMSEN,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
Robot mower configuration (type of sensors)
$RMCFG,d,pfl,pfr,pfc,prl,prr,prc,ih,ip,o,g
- d: Docking station available (1/0)
- pfl: perimeterFrontLeft available (1/0)
- pfr: perimeterFrontRight available (1/0)
- pfc: perimeterFrontCenter available (1/0)
- prl: perimeterRearLeft available (1/0)
- prr: perimeterRearRight available (1/0)
- prc: perimeterRearCenter available (1/0)
- ih: IMU compass available (1/0)
- ip: IMU pitch/roll available (1/0)
- o: Odometry available (1/0)
- g: GPS available (1/0)
Actor and sensor control
- $RMMOV: Rotate by x degrees and move with speed y RPM until sensor trigger
- $RMMOV: Keep ongoing action (mower communications saftety)
Rotate and move until sensor trigger
$RMMOV,d,r<cr><lf>
- d: rotate degrees
- r: move rpm
Keep ongoing action
$RMCOA<cr><lf>
Proprietary
- Any proprietary messages not defined by this protocol