Commands

Command System

A command system is required to send commands to the vocalizer. The following systems are supported:

Kyber Control System — Support coming soon. Mention Human-Cyborg Relations when purchasing and the Kyber team will generously donate $10 to FIRST Robotics.

DIY — Build your own control system. As a starting point, see the C++ command API developed by Alec Muir.

Commands

Commands can be sent over Serial, UART, or I2C. All commands must be wrapped in a container: <...>

To send multiple commands at once, include them within a single container separated by commas: <...,...>

...or chain multiple containers in a single string: <...><...>

Command	Response	Description
Stimuli
SH0		Trigger mild happy vocalization
SH1		Trigger extreme happy vocalization
SS0		Trigger mild sad vocalization
SS1		Trigger extreme sad vocalization
SM0		Trigger mild angry vocalization
SM1		Trigger extreme angry vocalization
SC0		Trigger mild scared vocalization
SC1		Trigger extreme scared vocalization
SE		Trigger overload/electrocution vocalization
Muse
M1		Enable muse
M0		Disable muse
MT		Toggle muse
MM		Trigger single musing
MN#		Set minimum gap (seconds) between musings
MX#		Set maximum gap (seconds) between musings
SD WAV
CA####		Play WAV file number 0000-9999 on WAV channel A
CB####		Play WAV file number 0000-9999 on WAV channel B
CA####C####		Play random WAV file between file number 0000-9999 and file number 0000-9999 on WAV channel A
CB####C####		Play random WAV file between file number 0000-9999 and file number 0000-9999 on WAV channel B
Stop
PSV		Stop vocalizer immediately
PSG		Stop vocalizer gracefully (will continue to play until next phoneme on which it is gramatically correct to end a sentence)
PSA		Stop WAV channel A immediately
PSB		Stop WAV channel B immediately
Volume
PVV#		Set vocalizer volume 0-100 (†)
PVA#		Set WAV channel A volume 0-100 (†)
PVB#		Set WAV channel B volume 0-100 (†)
Override
OA0		Disable Canonical mode and enable Improvisational mode (*)
OA1		Enable Canonical mode and disable Improvisational mode (*)
O1		Enable Personality Chip Override (*)
O0		Disable Personality Chip Override (*)
OR		Reset all emotions to 0
OH#		Set Happy emotion to 0-100
OS#		Set Sad emotion to 0-100
OM#		Set Mad emotion to 0-100
OC#		Set Scared emotion to 0-100
Record		---
RRP#		Play from memory slot 0-9
RRS#		Save to memory slot 0-9 (*)
R0		Set strict memory playback (*)
R1		Set organic memory playback (*)
Query
QEH	<QEH,#>	Returns the Happy emotion as an integer from 0-100
QES	<QES,#>	Returns the Sad emotion as an integer from 0-100
QEM	<QEM,#>	Returns the Angry emotion as an integer from 0-100
QEC	<QEC,#>	Returns the Scared emotion as an integer from 0-100
QE	<QE,#,#,#,#>	Returns the value of each emotion as an integer from 0-100 in the following order: happy,sad,mad,scared
QO	<QO,#>	Returns 0 if personality chip override is disabled, or 1 if enabled
QM	<QM,#>	Returns 0 if muse is disabled, or 1 if enabled
QF	<QF,#>	Returns an integer from 0-9999 representing the total number of WAV files detected on the SD
QT	<QT,#>	Returns a float representing the total original duration of the currently playing vocalization, or 0 if no vocalization is currently playing
QPV	<QPV,#>	Returns 0 if the vocalizer is not currently vocalizing, or 1 if it is
QPA	<QPA,#>	Returns an integer from 0-9999 representing the WAV file number currently playing on WAV channel A (or -1 if nothing is playing)
QPB	<QPB,#>	Returns an integer from 0-9999 representing the WAV file number currently playing on WAV channel B (or -1 if nothing is playing)
QVV	<QVV,#>	Returns an integer from 0-100 representing the vocalizer volume
QVA	<QVA,#>	Returns an integer from 0-100 representing WAV channel A volume
QVB	<QVB,#>	Returns an integer from 0-100 representing WAV channel B volume
QD	<QD,#,...,#>	Returns key metrics. Comma separated list with the results of these commands: QEH,QES,QEM,QEC,QO,QM,QF,QT,QPV,QPA,QPB

(*) = Persistently stored in R2D2Vocalizer.txt

(†) = Persistently stored in Config.txt

Command Examples

<SH1> — Trigger extreme happy vocalization.

<CA0025> — Play SD WAV file number 0025 on WAV channel A.

<CB0003C0185> — Play random SD WAV File between file number 0003 and file number 0185 on WAV channel B.

<QEH> — Query Happy emotion. Receive: <QEH,12>

<QE> — Query all emotions. Receive: <QE,4,28,100,68>

Multiple commands can be chained:

<SH1,M1> — Trigger extreme happy vocalization and enable muse.

<SH1><M1> — Alternate syntax for same command as above.

<SM0,QM> — Trigger mild angry vocalization and query muse state. Receive: <QM0>