Detailed Command Descriptions
Command:
Clean
Description:
Starts a cleaning by simulating press of start button.
Usage:
Clean [House] [Spot] [Stop]
Options:
Flag
Description
House
(Optional) Equivalent to pressing ‘Start’ button once.
Starts a house cleaning.
(House cleaning mode is the default cleaning mode.)
Spot
(Optional) Starts a spot clean.
Stop
Stop Cleaning.
Return Format:
None
Command:
DiagTest
Description:
Executes different test modes. Once set, press Start button to engage. (Test modes are
mutually exclusive.)
Usage:
DiagTest [TestsOff] [DrivePath] [DriveForever] [MoveAndBump] [DropTest] [AutoCycle]
[OneShot] [BrushOn] [VacuumOn] [LDSOn] [AllMotorsOn] [DisablePickupDetect] [DrivePathDist
<DrivePathDist_value>] [DriveForeverLeftDist <DriveForeverLeftDist_value>] [DriveForeverRightDist
<DriveForeverRightDist_value>] [DriveForeverSpeed <DriveForeverSpeed_value>] [Speed
<Speed_value>] [BrushSpeed <BrushSpeed_value>]
Options:
Flag
Description
TestsOff
Stop Diagnostic Test and clears all diagnostic test modes.
DrivePath
Sets DrivePath TestMode. Press start button to start. Robot travels
straight by commanded distance as path. Mutually exclusive with other
diagtest modes. Use ‘TestsOff’ option to stop.
DriveForever
Sets DriveForever TestMode. Press start button to start. Robot drives
continuously. Mutually exclusive with other diagtest modes. Use
‘TestsOff’ option to stop.
MoveAndBump
Sets Move and Bump TestMode. Press start button to start. Executes
canned series of motions, but will react to bumps. Mutually exclusive
with other diagtest modes.
DropTest
Enables DropTest. Robot drives forward until a drop is detected.
Mutually exclusive with other diagtest modes.
AutoCycle
DropTest argument to enable automatic restart of the test. The robot
will drive backwards and then forward until a drop is detected until the
test is over.
OneShot
Only executes test once.
BrushOn
Turns on brush during test. May conflict with motor commands of test
so use carefully!
VacuumOn
Turns on vacuum during test. May conflict with motor commands of test
so use carefully!
