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Messages

The message responses from ROAMer.

Error

Move

  • [e m x > 100] - Cannot move x more than 100mm [error] out of bounds >>> send '? m\n' for help.
  • [e m y < -100] - Cannot move x less than -100mm [error] out of bounds >>> send '? m\n' for help.
  • [e m y > 100] - Cannot move y more than 100mm [error] out of bounds >>> send '? m\n' for help.
  • [e m y < -100] - Cannot move y less than -100mm [error] out of bounds >>> send '? m\n' for help.

Turn

  • [e t > 360] - Cannot turn more than 360 degrees clockwise [error] out of bounds >>> send '? t\n' for help.
  • [e t < -360] - Cannot turn more less -360 degrees anti-clockwise [error] out of bounds >>> send '? t\n' for help.

Gait

  • [e g ! r t] - Only types (r)ipple and (t)ripod existing [error] incorrect type >>> send '? g\n' for help.

Balance

  • [e b p > 360] - Cannot turn pitch more than 360 degrees clockwise [error] out of bounds >>> send '? b\n' for help."
  • [e b r > 360] - Cannot turn roll more than 360 degrees clockwise [error] out of bounds >>> send '? b\n' for help."
  • [e b y > 360] - Cannot turn yaw more than 360 degrees clockwise [error] out of bounds >>> send '? b\n' for help."
  • [e b p < -360] - Cannot turn pitch less than -360 degrees clockwise [error] out of bounds >>> send '? b\n' for help."
  • [e b r < -360] - Cannot turn roll less than -360 degrees clockwise [error] out of bounds >>> send '? b\n' for help."
  • [e b y < -360] - Cannot turn yaw less than -360 degrees clockwise [error] out of bounds >>> send '? b\n' for help."

Speed

  • [e s ! i d s] - Only types (i)ncrease, (d)ecrease and (s)et existing [error] incorrect type >>> send '? s\n' for help.
  • [e s s > 254] - Cannot set step more than 254 [error] out of bounds >>> send '? s\n' for help.
  • [e s s < 1] - Cannot set step less than 1 [error] out of bounds >>> send '? s\n' for help.

Height

  • [e h ! i d s] - Only types (i)ncrease, (d)ecrease and (s)et existing [error] incorrect type >>> send '? h\n' for help.
  • [e h s > 254] - Cannot set step more than 254 [error] out of bounds >>> send '? s\n' for help.
  • [e h s < 1] - Cannot set step less than 1 [error] out of bounds >>> send '? s\n' for help.

Foot Distance

  • [e f ! i d s] - Only types (i)ncrease, (d)ecrease and (s)et existing [error] incorrect type >>> send '? f\n' for help.
  • [e f s > 254] - Cannot set step more than 254 [error] out of bounds >>> send '? f\n' for help.
  • [e f s < 1] - Cannot set step less than 1 [error] out of bounds >>> send '? f\n' for help.

Calibrate

  • [e c l ! 0-5] - Cannot calibrate leg, only have five, use 0-5 for leg [error] out of bounds >>> send '? c\n' for help.
  • [e c p ! l m u] - Cannot calibrate leg, leg part must be (l)ower, (m)iddle or (u)pper [error] out of bounds >>> send '? c\n' for help.
  • [e c a ! 0-120 255] - Cannot calibrate leg, amount must be 0-120 or 255 to confirm last message [error] out of bounds >>> send '? c\n' for help.
  • [e l ! e w i d] - Cannot change log type, only types (e)rror, (w)warning/error, (i)nfo/warning/error and (d)ebug/info/warning/error exist [error] incorrect type >>> send '? l\n' for help.

Message

  • [e] - Message incorrect format

Help

Move

Move:

m X Y Move X, Y with selected gait. X: distance forward in mm. Y: distance left side in mm. Example Command (terminated with new line character): m 30 -20

Turn

Turn

t Angle Turn with selected gait Angle: degrees with one decimal, positive CW, negative ACW. Example Command (terminated with new line character): t -150

Gait

g Type Choose type of gait Type: t (tripod) Type: r (ripple) Example Command (terminated with new line character): g t Serial.println();

Balance

Balance

b Pitch Roll Yaw Balance change without moving. Pitch: angle in degrees with one decimal, positive CW, negative ACW. Roll: angle in degrees with one decimal, positive CW, negative ACW. Yaw: angle in degrees with one decimal, positive CW, negative ACW. Example Command (terminated with new line character): b -10 -5 12.5

Speed

Speed

s Type [Amount] Change speed of ROAMer movements. Type: i (Increase speed) Type: d (decrease speed) Type: s (increase/decrease step size) Amount: Size of step in mm (optional) Example Command (terminated with new line character): s i s s 30

Height

Height

h Type [Amount] Change height of ROAMer. Type: i (Increase height) Type: d (decrease height) Type: s (increase/decrease step size) Amount: Size of step in mm (optional) Example Command (terminated with new line character): h d h s 30

Foot Distance

Foot Distance

f Type [Amount] Change foot distance of ROAMer. Type: i (Increase distance) Type: d (decrease distance) Type: s (increase/decrease step size) Amount: Size of step in mm (optional) Example Command (terminated with new line character): f i f s 30

Calibrate

Calibrate

c Leg Part Amount Calibrate the starting servo position of leg parts. Leg: 0 number of the leg from 0-5. Part: l Part of the leg as lower. Part: m Part of the leg as middle. Part: u Part of the leg as upper. Amount: 40 The amount to set as position from 0-120. Amount: 255 To confirm the previous calibration. Example Command (terminated with new line character): c 0 m 20 c 0 m 255

Log

Log

l Type Change log type pushed back from ROAMer. Type: e Error logs Type: w Error and warning logs Type: i Error, warning and info logs Type: d Error, warning, info and debug logs Example Command (terminated with new line character): l w