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API Table
This is a table of the API showing the processor, device, command code and its mnemonic, the paramters for the request, and the data in the reponse. If the Request cell is empty there is no data sent. If the Response cell is empty no data is returned but, if there is an error, a code will be returned.
Data Term Definitions
The following defintions apply:
Term | Meaning |
---|---|
bool | false (0x00) or true (0x01) byte |
byte | 1 byte unsigned integer |
byte array | non-character bytes from start of field to end of field |
confidence | 1 byte unsigned integer indicating leve of confidence in reading |
float | 2 byte float |
milliseconds | 2 byte unsigned integer |
string | characters from start of field to end of field, no end zero delimiter |
unsigned integer | 2 byte integer |
API Table
Processor | Device | Code | Command | Request | Response | Terms |
---|---|---|---|---|---|---|
API | ||||||
btc | api_and_shell | 0x00 | echo | byte array | byte array | |
Connection** | ||||||
nordic | connection | 0x05 | get_bluetooth_advertising_name | string | ||
Drive | ||||||
btc | drive | 0x01 | raw_motors | l-mode, l-speed, r-mode, r-speed | modes: off(0x0), forward(0x01), reverse(0x02) | |
btc | drive | 0x06 | reset_yaw | |||
btc | drive | 0x07 | drive_with_heading | speed, 2 byte heading, motor flags | heading (degress) clockwise, motor flags : reverse(0x00), boost(0x01), fast turn(0x02) | |
btc | drive | 0x25 | enable_motor_stall_notify | bool | ||
btc | drive | 0x26 | motor_stall_notify | motor index, triggered | motor index:left(0x00), right(0x01) | |
triggered: bool | ||||||
btc | drive | 0x27 | enable_motor_fault_notify | bool | ||
btc | drive | 0x28 | motor_fault_notify | bool | ||
btc | drive | 0x29 | get_motor_fault_state | bool | ||
IO (LED) | ||||||
nordic | io_led | 0x1A | set_all_leds | 4 byte LED bit mask | 3 byte color for each bit | Note 1 |
nordic | io_led | 0x44 | get_active_color_palette | rgb index bytes | Note 2 | |
nordic | io_led | 0x45 | set_active_color_palette | rgb index bytes | index confidence | Note 2 |
nordic | io_led | 0x46 | get_color_identification_report | red, green, blue, confidence | Note 3 | |
nordic | io_led | 0x47 | load_color_palette | pallete index | Note 3 | |
nordic | io_led | 0x48 | save_color_palette | pallete index | Note 3 | |
nordic | io_led | 0x4E | release_led_requests | |||
Power | ||||||
nordic | power | 0x00 | power off | seconds to shutdown | Note - complete power off | |
nordic | power | 0x01 | sleep | |||
nordic | power | 0x0D | wake | |||
nordic | power | 0x10 | get_battery_percentage | byte | ||
nordic | power | 0x11 | system_awake_notification | |||
nordic | power | 0x17 | get_battery_voltage_state | state flag | unknown(0x00), ok(0x01), low(0x02), critical(0x03) | |
nordic | power | 0x19 | will_sleep_notify | |||
nordic | power | 0x1A | did_sleep_notify | |||
nordic | power | 0x1B | enable_battery_voltage_state_change_notify | bool | ||
nordic | power | 0x1C | battery_voltage_state_change_notify | notification_data | ||
nordic | power | 0x25 | get_battery_voltage_in_volts | reading type | 4 byte float | calibrated filtered(0x00),calibrated unfiltered(0x01), uncalibrated unfiltered(0x02) |
nordic | power | 0x26 | get_battery_voltage_state_thresholds | 3 x 4 byte floats | critical threshold, low threshold, hysteresis | |
btc | power | 0x27 | get_current_sense_amplifier_current | motor side | 4 byte float | left(0x00), right(0x01) |
Sensors | ||||||
btc | sensors | 0x0F | enable_gyro_max_notify | bool | ||
btc | sensors | 0x10 | gyro_max_notify | gyro max flags | Note 4 | |
btc | sensors | 0x13 | reset_locator_x_and_y | |||
btc | sensors | 0x17 | set_locator_flags | bool | false: reset on yaw reset, true: ignore yaw reset | |
btc | sensors | 0x22 | get_bot_to_bot_infrared_readings | byte array | ||
btc | sensors | 0x23 | get_rgbc_sensor | 4 x unsigned integer | red, gree, blue, clear | |
btc | sensors | 0x27 | start_robot_to_robot_infrared_broadcasting | |||
btc | sensors | 0x28 | start_robot_to_robot_infrared_following | |||
btc | sensors | 0x29 | stop_robot_to_robot_infrared_broadcasting | bool | ||
btc | sensors | 0x2C | robot_to_robot_infrared_message_received_notify | notification_data | ||
nordic | sensors | 0x30 | get_ambient_light_sensor_value | 4 byte float | ||
btc | sensors | 0x32 | stop_robot_to_robot_infrared_following | |||
btc | sensors | 0x33 | start_robot_to_robot_infrared_evading | |||
btc | sensors | 0x34 | stop_robot_to_robot_infrared_evading | |||
nordic | sensors | 0x35 | enable_color_detection_notify | bool, milliseconds, confidence | ||
nordic | sensors | 0x36 | color_detection_notify | 5 x byte | red, green, blue, confidence, classification | |
nordic | sensors | 0x37 | get_current_detected_color_reading | color_detection_notify semt in response | ||
nordic | sensors | 0x38 | enable_color_detection | bool | ||
btc | sensors | 0x39 | configure_streaming_service | See Streaming | ||
nordic | sensors | 0x39 | configure_streaming_service | See Streaming | ||
btc | sensors | 0x3A | start_streaming_service | milliseconds | See Streaming | |
nordic | sensors | 0x3A | start_streaming_service | milliseconds | See Streaming | |
btc | sensors | 0x3B | stop_streaming_service | See Streaming | ||
nordic | sensors | 0x3B | stop_streaming_service | See Streaming | ||
btc | sensors | 0x3C | clear_streaming_service | See Streaming | ||
nordic | sensors | 0x3C | clear_streaming_service | See Streaming | ||
btc | sensors | 0x3D | streaming_service_data_notify | token, sensor data | See Streaming | |
nordic | sensors | 0x3D | streaming_service_data_notify | token, sensor data | See Streaming | |
btc | sensors | 0x3E | enable_robot_infrared_message_notify | bool | ||
btc | sensors | 0x3F | send_infrared_message | byte array | ||
btc | sensors | 0x4A | motor_temperature | byte array of codes | 4 byte float for each code | Note 5 |
btc | sensors | 0x4B | get_motor_thermal_protection_status | float l motor temp | ||
status | Ok (0x00), warn(0x01), critical(0x02) | |||||
float l motor temp | ||||||
status | Ok (0x00), warn(0x01), critical(0x02) | |||||
btc | sensors | 0x4C | enable_motor_thermal_protection_status_notify | bool | ||
btc | sensors | 0x4D | motor_thermal_protection_status_notify | float l motor temp | ||
l status | Ok (0x00), warn(0x01), critical(0x02) | |||||
float r motor temp | ||||||
r status | Ok (0x00), warn(0x01), critical(0x02) | |||||
System | ||||||
btc | system | 0x00 | bt_main_application_version | 3 x unsigned integer | major, minor, revision | |
nordic | system | 0x00 | noridic_main_application_version | 3 x unsigned integer | major, minor, revision | |
btc | system | 0x01 | bt_bootloader_version | 3 x unsigned integer | major, minor, revision | |
nordic | system | 0x01 | bt_bootloader_version | 3 x unsigned integer | major, minor, revision | |
nordic | system | 0x03 | board_revision | byte | ||
nordic | system | 0x06 | mac_address | string | ||
nordic | system | 0x13 | stats_id | byte | ||
btc | system | 0x1F | bt_processor_name | string | ||
nordic | system | 0x1F | nordic_processor_name | string | ||
nordic | system | 0x38 | get_sku | string | "RVR" | |
btc | system | 0x39 | get_core_up_time_in_milliseconds | 8 byte unsigned integer |
Note 1: Set All LEDs
Note 2: RGB
Note 3: Color Palletes
Note 4: Gyro Max Flags Max Plus X: bit 0 Max Minus X: bit 1 Max Plus Y: bit 2 Max Minus Y: bit 3 Max Plus Z: bit 4 Max Minus Z: bit 5
Note 5: Motor Temperature:
Updated