Zoomba Commands

Zoomba 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: <\n>OK<\n>

 

 

 

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