ROBOT_POSE

ROBOT_POSE is the most commonly used message type. It is used both for sending commands to Mousr and receiving accelerometer information.

Sending commands to Mousr

When sending messages, the message contains 15 bytes.

There are three types of TX ROBOT_POSE message that I've observed:

• Type 1 has no parameters. These are the simplest commands as most of the bytes are 0's.
• Type 2 has ad hoc values for bytes 2-13.
• Type 3 is used for controlling movement. Bytes 2-13 represent 3 different floating point values.

Type 1 structure

Byte(s)	Data Type	Value	Note
1	Byte	Always 0x30
2-13	N/A	Zero fill
14	Byte	Command
15	Byte	New command*

Example: POWER_OFF

0x300000000000000000000000000900

Type 2 structure

Byte(s)	Data Type	Value	Note
1	Byte	Always 0x30
2-13	??	Arbitrary value
14	Byte	Command
15	Byte	New command*

Example: SOUND_VOLUME (100%)

0x306400000000000000000000001300

Type 3 structure (Movement)

Byte(s)	Data Type	Value	Note
1	Byte	Always 0x30
2-5	Float	Speed (0.0-100)	Acceleration
6-9	Float	Held	Is button held?
9-13	Float	Angle (-180.0 - 180.0)	Degrees from center (yaw)
14	Byte	Command
15	Byte	New command*

Example: MOVE (move 90° from center at 23% acceleration)

0x30bdcd6c3e00000000a40eba420200

ROBOT_POSE Commands (TX)

The following commands can be sent to Mousr:

Command Type	Value Hex	Value Dec	Type	Description	Notes
STOP	0x00	0	Type 1
SPIN	0x01	1	Type 3	Spins Mousr in place.	Only bytes 9-13 ("Angle") are used.
MOVE	0x02	2	Type 3	Start movement using specified speed, tilt, and angle	Movement will continue until STOP command is sent, Mousr hits something, or a speed value of 0 is specified.
RESET_HEADING	0x03	3	Type 1	Resets North to wherever Mousr's head is pointing	"Angle" degrees are based on ths value.
GET_DEBUG_LOG	0x04	4	Type 1	Send debug log	Receives CRASH_LOG_STRING message(s) followed by a CRASH_LOG_FINISH when debug log is finished sending.
SPIN_PLAN	0x05	5	??	??
ENTER_DFU_MODE	0x08	8	Type 1	Enters DFU mode to update device firmware
TURN_OFF	0x09	9	Type 1	Powers off Mousr	Mousr will disconnect from BLE
SLEEP	0x0a	10	Type 1	Mousr goes into standby mode	Mousr will remain connected to BLE
CONFIG_AUTO_MODE	0x0f	15	Type 2	Configures auto-play mode	Bytes specify various mode attributes.
CHIRP	0x12	18	Type 2	Mousr makes sound	3rd byte contains the sound effect value. The standard "whistle" from the app is 6. There are 28 different Mousr chirps.
SOUND_VOLUME	0x13	19	Type 2	Sets volume level	First byte is level in percent (0-100 / 0x00-0x64).
Flick_SIGNAL	0x17	23	??
Reverse_SIGNAL	0x18	24	??
Tail_Calib_SIGNAL	0x19	25	Type 1	Perform tail calibration	Tail will move up and down while this happens.
Set_Tail_SIGNAL	0x1a	26	Type 2	Sets tail mode
INITIALIZE_DEVICE	0x1c	28	??
FLIP_ROBOT	0x1f	32	Type 1	Flips robot	NOOP unless Mousr is upside down
CFG_DRIVER_ASSIST	0x29	41	Type 2	Configures driver assist options
TUTORIAL_STEP	0x2d	45	Type 2	Executes a pre-programmed tutorial step
CMD_SET_TIME	0x2e	46	??
INVALID	0x64	100	??

Receiving status from Mousr

Mousr sends a constant stream of ROBOT_POSE messages to the UART TX characteristic. These messages contain information from Mousr's accelerometer. Unlike the 15 byte RX messages, these TX messages are (always?) 20 bytes long.

These appear to be sent at a rate of ~5 per second.

ROBOT_POSE TX structure

Byte(s)	Data Type	Value	Note
1	Byte	Always 0x30
2-5	Float	Speed (0.0-100)	Acceleration (unused by Mousr app)
6-9	Float	Held (-180.0 - 180.0)	Tilt (unused by Mousr app)
9-13	Float	Angle (-180.0 - 180.0)	Degrees from center (yaw)
14	Boolean	1 = flipped
15-20	??	(unused by Mousr app)

Example: (1.15° from center, -0.2° tilt, -0.5% acceleration)

0x307b3c0b3fce824a3ebd45933f00030000000000