Commands

Overview of commands

Requests and Responses are formed as a string. A Request begins with a key character and ends in _. A response begins with %, contains the original command and has a list of responses following the = sign.

Requests

Request	Key	Purpose	Example
GetValue	?	Retrieve a value or status	`?STTN_` - Requests the current status of the station (stopped or not).
SetValue	^	Set a specific parameter	`^STNT 1_` - Sets the Station timeout.
Action	@	Command the robot to do something	`@TDIR 1_` - Commands the robot to move forward.

Frame shape

{TOKEN}[ arg1 arg2 ...]_\r

The trailing _ is required before \r.

Responses

Replies end with \r.

General pattern:

%{REQUEST_TOKEN}={payload}_\r

Where REQUEST_TOKEN matches what you sent ?STTN, @TDIR, etc.).

Examples

?STTN_\r Station query

@TDIR 1_\r Direction command

^RSPD 0.8_\r Speed parameter

Invalid framing is treated as an unparsed / error path on the robot. You will typically see #ERR in the response path described below.

Available Commands

CMD	Args	Response	Description
`?STTN`	-	ts bool	Returns timestamp and True if currently stopped at a station.
`?SYSP`	-	ts bool	Returns timestamp and True if the system is powered on and available.
`?TDIR`	-	ts int	Gets the Target Direction in autonomy mode. Result will be -1, 0, or 1 for Reverse, Paused, and Forward respectively.
`?RSPD`	-	ts float float	Gets linear and rotational velocity in that order of the robot at the returned time stamp.
`?RGPS`	-	ts float float	Query: GNSS fix (timestamp ns, latitude, longitude).
`@TDIR`	int	ack	Command: sets target direction (internal `set_target_direction`; example uses numeric `1`).
`^RSPD`	float	ack	Set speed-related parameter (`speed_setting` internally).

String Datatypes

Type	Description	Examples
`bool`	True / False	`1` / `0`
`ts`	System timestamp in nanoseconds (Epoch / UTC)	`1616173082013918219`
`int`	Integer	`213`, `-31`
`float`	Floating point number	`8.123`, `-3.14159`