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This section lists and describes all the status messages that a Robobo robot can send to report changes in its state.

Analogously to Commands, Status consists of two elements:

  • Status Name or Identifier: Unequivocally identifies the sensor whose status is notified.
  • Properties Set: values detected by the sensor. They are represented by a set of key pairs <-> value.

#List of Robobo Status

Robobo base

This section lists the status message of the robotics base robobo.

PAN

It notifies changes in the robotic base robobo horizontal axis.

Parameters:

  • panPos: Pan actual position. Any integer between 10 and 345.

Example

{"PAN": { "panPos": 15 }}

TILT

It notifies changes in the robotic base robobo vertical axis.

Parameters:

  • tiltPos: Tilt actual position. Any integer between 5 and 105.

Example

{"TILT": { "tiltPos": 15 }}

WHEELS

Wheels velocity and positions.

Parameters:

  • wheelPosR: Right wheel encoder position. Long value.
  • wheelPosL: Left wheel encoder position. Long value.
  • wheelSpeedR: Left wheel encoder velocity. Long value.
  • wheelSpeedL: Right wheel encoder velocity. Long value.

Example

{"WHEELS": { "wheelPosR": 15, "wheelPosR": 30, "wheelSpeedR": 15, "wheelSpeedL": 15 }}

UNLOCK-MOVE

Notifies when a wheel movement has finished.

Parameters:

  • blockid:Wheel movement identifier. Positive integer.

Example

{"UNLOCK-MOVE": { "blockid": 2 }}

UNLOCK-PAN

Notifies when a pan movement has finished.

Parameters:

  • blockid:Pan movement identifier. Positive integer.

Example

{"UNLOCK-PAN": { "blockid": 2 }}

UNLOCK-TILT

Notifies when a tilt movement has finished.

Parameters:

  • blockid:Tilt movement identifier. Positive integer.

Example

{"UNLOCK-TILT": { "blockid": 2 }}

LED

Notifies a led color change.

Parameters:

  • id: String. Led identifier. Any integer between 0 and 3000.
  • R: Int. Red color intensity. Any integer between 0 and 3000.
  • G: Int. Green color intensity. Any integer between 0 and 3000.
  • B: Int. Blue color intensity. Any integer between 0 and 3000.

Example

{"LED": { "id": 1, "R": 500, "G": 255, "B": 1000 }}

BAT-BASE

Notifies the current battery level of the robotic base robobo.

Parameters

  • level: Battery Level Percentage. Any integer between 0 and 100.

Example

{"BAT-BASE": { "level": 75 }}

IRS

Notifies the raw distance with the obstacles detected by all robobo robotic base sensors.

Parameters

  • Back-C: integer value detected by back center sensor.
  • Back-L: integer value detected by back left sensor.
  • Back-R: integer value detected by back right sensor.
  • Front-C: integer value detected by front center sensor.
  • Front-L: integer value detected by front left sensor.
  • Front-LL: integer value detected by front more to the left sensor.
  • Front-R: integer value detected by front right sensor.
  • Front-RR: integer value detected by front more to the left sensor.

Example

{"IRS": { "Back-C": 75, "Back-L": 400, "Back-R": 100, "Front-C": 75, "Front-L": 107, "Front-LL": 0, "Front-R": 0, "Front-RR": 0 }}

----

Smartphone

BAT-PHONE

It notifies the current phone battery level.

Parameters

  • level: Battery Level Percentage. Any integer between 0 and 100.

Example

{"BAT-PHONE": { "level": 75 }}

AMBIENTLIGHT

Ambient brightness level

Parameters

  • level: Brightness level. Any integer between 0 and 50000.

Example

{"AMBIENTLIGHT": { "level": 483 }}

ORIENTATION

Notifies phone orientation based on rotation matrix.

Parameters

  • yaw: Angle of rotation on the z-axis. Any integer between -180 and 180.
  • pitch: Angle of rotation on the x-axis. Any integer between -180 and 180.
  • roll: Angle of rotation on the y axis. Any integer between -180 and 180.

Example

{"ORIENTATION": { "yaw": 100, "pitch": 90, "roll": 35 }}

ACCELERATION

Notifies the current value of acceleration on all three axes.

Parameters

  • xaccel: Acceleration on the x-axis.
  • yaccel: Acceleration on the y-axis.
  • zaccel: Acceleration on the z-axis.

Example

{"ACCELERATION": { "xaccel": 100, "yaccel": 90, "zaccel": 35 }}

----

Vision

Status messages generated by the Robobo Vision Library that supports the detection and tracking of faces and color blobs (like balls).

BLOB

Notifies when a color object is detected.

Parameters

  • posx: Position on the x axis with respect to the telephone screen.
  • posy: Position on the y axis with respect to the telephone screen.
  • size: Detected object area. Measured in pixels squared.
  • color: Detected color. Possible values: red, green, blue and custom.

Example

{"BLOB": { "posx": 100, "posy": 90, "size": 35, "color": "red" }}

FACE

Notifies the detection of a face in the field view of the robot.

The robot not only detects faces, but tracks them, so the first time it detects a face it publishes a FACE status with X,Y and distance, and continues updating those values with new FACE status. As soon as the robot lost the tracking of a hace, it publish a FACE status with -1 values in X,Y and distance, in order to notify that the face is no longer visible by the robot.

Parameters

  • coordx: X coordinate of a point between the eyes of the detected face. Positive integer when a face has been found, -1 when a face has been lost.
  • coordy: Y coordinate of a point between the eyes of the detected face. Positive integer when a face has been found, -1 when a face has been lost.
  • distance: Face distance detected. Positive integer when a face has been found, -1 when a face has been lost.

Example

{"FACE": { "coordx": 45, "coordy": 67, "distance": 400, }}

{"FACE": { "coordx": -1, "coordy": -1, "distance": -1, }}

----

Sound

Status messages published by the Robobo Sound Library that supports the detection of musical notes, the detection of claps or percusive sounds and text to speech.

NOTE

Notifies the detection of a musical note.

Parameters

  • name: Musical note name in anglosaxon notation (A, As, B, C ...)
  • octave: Octave of the note
  • index: Musical note index, corresponds with the piano key number. Any integer between 48 and 72.
  • duration: musical note duration. Any positive integer, in milliseconds.

Example

{"NOTE": { "name": "A" "index": 45, "octave":3, "duration":534, }}

CLAP

Notifies the detection of a clap or percusion sound.

Parameters

  • It has no parameters.

Example

{"CLAP": { }}

UNLOCK-TALK

It notifies when the robot has finished to play the text to speech sound.

Example

{"UNLOCK-TALK"}

----

Touch

Events produced by touching the screen

TAP

It notifies the touch detection by hand on the phone screen.

Parameters

  • coordx: Coordinate on the x-axis. Any positive integer.
  • coordy: Coordinate on the y-axis. Any positive integer.

Example

{"TAP": { "coordx": 10, "coordy": 30 }}

FLING

It notifies the detection of a gesture drag on screen.

Parameters

  • angle: Event angle. Any integer between 0 until 360.
  • time:Gesture duration in milliseconds. Any positive integer.
  • distance: Gesture length measured in pixels. Any positive integer.

Example

{"FLING": { "angle": 10, "time": 30, "distance": 35 }}

----

Others

Other status messages.

EMOTION

Notifies a change in the emotion (face) displayed by the robot.

Parameters

  • emotion: emotion. Posible values: happy, laughing, sad, angry, surprised, normal.

Example

{"EMOTION": { "emotion": "values" }}

Updated