Zoomba CommandsZoomba commands are sent over the serial port at 9600 baud (8N1, no flow control). All commands are originated by the host and a reply is sent by by the Zoomba. Command: ? Description: Returns a summary description and usage of every command. Command: BAT Variant: BAT?<\n> Description: Query the current state of the battery. Returns: <0..8><\n>OK<\n> 0 = 0.0% 1 = 12.5% 2 = 25.0% 3 = 37.5% 4 = 50.0% 5 = 62.5% 6 = 75.0% 7 = 87.5% 8 = 100% Command: BTN Variant: BTN?<\n> Description: Query the current state of the buttons. Returns: <0/1/2><0/1/2><0/1/2><\n>OK<\n> Index 0 = Small room button Index 1 = Medium room button Index 2 = Large room button 0 = Not pressed 1 = Currently pressed 2 = Button has been pressed and released since last BTN? command Example: BTN? Returns: 201 Small room button was pressed but has been released. Medium room button hasn't been pressed. Large room button is currently being pressed. Command: DRV Variant: DRV?<\n> Description: Query the current state of the left/right motors. Returns: <+/-><0..9><+/-><0..9><\n>OK<\n> Variant: DRV[+/-][0..9][+/-][0..9]<\n> Description: Set a new state for the left/right motors. Returns: OK<\n> Index 0 = Left motor Index 1 = Right motor + = Forward - = Reverse 0 = OFF 1 = 12.5% (regulated) 2 = 25.0% (regulated) 3 = 37.5% (regulated) 4 = 50.0% (regulated) 5 = 62.5% (regulated) 6 = 75.0% (regulated) 7 = 87.5% (regulated) 8 = 100% (regulated) 9 = full speed (unregulated) Example: DRV? Returns: +4-2 Left motor is currently moving forward at 50% regulated speed. Right motor is currently moving reverse at 25% regulated speed. Example: DRV+4-2 Set Left motor to run forward at 50% regulated speed. Set Right motor to run reverse at 25% regulated speed. Command: LED Variant: LED? Description: Query the current state of the LEDs. Returns: [0/1][0/1][0/1][0/1][0/1]<\n>OK<\n> Variant: LED[0/1][0/1][0/1][0/1][0/1]<\n> Description: Set a new state for the LEDs. Returns: OK<\n> Index 0 = Red battery LED Index 1 = Green battery LED Index 2 = Small room LED Index 3 = Medium room LED Index 4 = Large room LED 0 = OFF 1 = ON Example: LED? Returns: 01010 Green battery LED and Medium room LED are both on. Red battery LED, Small room LED, and Large room LED are all off. Example: LED01010 Turn Green battery LED and Medium room LED on. Turn Red battery LED, Small room LED, and Large room LED off. Command: SEN Variant: SEN? Description: Query the current state of the sensors. Returns: [0/1][0/1][0/1][0/1][0/1][0/1][0/1]<\n>OK<\n> Index 0 = Left bump sensor Index 1 = Right bump sensor Index 2 = Left-side drop sensor Index 3 = Left-front drop sensor Index 4 = Right-front drop sensor Index 5 = Right-side drop sensor Index 6 = Hug sensor 0 = IDLE 1 = TRIGGER Command: VAC Variant: VAC? Description: Query the current state of the vacuum motors. Returns: [0/1][0/1]<\n>OK<\n> Variant: VAC[0/1][0/1]<\n> Description: Set a new state for the vacuum motors. Returns: OK<\n> Index 0 = Suction and side-spin motors Index 1 = Brush motor 0 = OFF 1 = ON Example: VAC? Returns: 10 Suction and side-spin motors are on. Brush motor is off. Example: VAC10 Turn suction and side-spin motors on. Turn brush motor off. Command: VER Variant: VER?<\n> Description: Returns the Firmware version. Returns: |
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