Robobo Status

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.

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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 }}

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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 }}

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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 }}

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UNLOCK-MOVE

Notifies when a wheel movement has finished.

Parameters:

• blockid:Wheel movement identifier. Positive integer.

Example

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

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UNLOCK-PAN

Notifies when a pan movement has finished.

Parameters:

• blockid:Pan movement identifier. Positive integer.

Example

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

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UNLOCK-TILT

Notifies when a tilt movement has finished.

Parameters:

• blockid:Tilt movement identifier. Positive integer.

Example

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

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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 }}

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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 }}

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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 }}

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Smartphone

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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 }}

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AMBIENTLIGHT

Ambient brightness level

Parameters

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

Example

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

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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 }}

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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 }}

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Vision

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

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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" }}

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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, }}

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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.

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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, }}

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CLAP

Notifies the detection of a clap or percusion sound.

Parameters

• It has no parameters.

Example

{"CLAP": { }}

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UNLOCK-TALK

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

Example

{"UNLOCK-TALK"}

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Touch

Events produced by touching the screen

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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 }}

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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 }}

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Others

Other status messages.

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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" }}

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