Actions Reference

Actions Reference

An action is one thing NaviCore does when a button is tapped or a switch changes. Each button tap‑tier (single/double/triple) and each switch position holds up to 5 actions, and every action can carry an optional delay (ms, fired after the press) and a short note (label shown in the tool).

There are six action types.

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WCB unicast

Send a WCB command string to one board.

• Target: WCB board ID 1–20
• Command: any WCB command string, e.g. :PP100
• Chained commands are supported (e.g. ;h,play,a,1,fadein,4^;t6000^;h,fadeout,a,4) up to ~95 characters.

WCB broadcast

Same, but sent to every WCB on the network (no target).

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Maestro

Drive a Pololu Maestro servo controller. Maestros are addressed by logical slot 1–8; where each slot actually lives is set in Config → Maestro (Locations):

• Local — wired to this board's Serial2 bus (GPIO6).
• Remote — broadcast over ESP‑NOW; any WCB with Kyber_Remote forwards the bytes to its Maestro port.
• Disabled — slot ignored.

Each slot also has a Pololu device number (0–127), which must match the number set in Maestro Control Center on the physical unit. NaviCore always uses Pololu protocol (not compact), so multiple Maestros can share a bus and only the addressed device responds.

Command forms:

Command	Meaning
setTarget,<ch>,<pos>	Move servo channel to position (quarter‑µs)
setSpeed,<ch>,<spd>	Set channel speed
setAccel,<ch>,<acc>	Set channel acceleration
goHome	Send all channels to their home positions
stopScript	Stop the running Maestro script
restartScript,<n>	Restart the Maestro script at subroutine n

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HCR (Human‑Cyborg Relations vocalizer)

Fire an HCR vocalizer command. The destination is global — set once in Config → HCR, every HCR action shares it:

• Serial — local port S3 or S4 (9600 baud typical).
• WCB — unicast to a WCB ID 1–20, plus the serial port 1–5 on that receiving WCB. (HCR over WCB is unicast only — broadcast isn't supported.)

Each HCR action carries a function, an emotion/audio channel, and a track/value:

fn	Function	chan	track/value
2	SetEmotion	0–3 emotion	level 0–99
3	Trigger	0–4	level 0–99
4	Stimulate	0–4	level 0–99
5	Overload	—	—
6	Muse (one shot)	—	—
7	Muse gap (auto interval)	min gap 0–99 s	max gap 0–99 s
8	Stop (all audio + emote)	—	—
9	StopEmote	—	—
10	Override emotions	0 = off / 1 = on	—
11	ResetEmotions	—	—
13	Auto-muse (continuous)	—	0 = off / 1 = on
14	PlayWAV	0–2 audio	track 0–9999
16	StopWAV	0–2 audio	—
17	SetVolume	0–2 audio	0–99

• Emotion channels: 0 = Happy, 1 = Sad, 2 = Mad, 3 = Scared, 4 = Overload.
• Audio channels: 0 = V (vocalizer), 1 = A, 2 = B.
• Override emotions (fn 10): locks the brain's emotion normalization so a SetEmotion level holds instead of decaying back to baseline. Turn it off to resume normal decay.
• Muse (fn 6 / 7 / 13): fn 6 plays a single muse now; fn 13 turns the brain's continuous random idle musing on/off; fn 7 sets the random gap (min–max seconds) between auto-muses.

These match the Body Controller's HCR function numbers exactly. Over WCB, fn 7/10/13 are sent as the WCB's readable ;H,MUSE,GAP / ;H,OVERRIDE / ;H,MUSE verbs (no WCB firmware change needed); the other functions use ;H,FN,….

Diagnostic: CLI #L20 / #L21 send a test HCR command straight to S3 / S4, bypassing config and mapping — handy for isolating wiring vs. config issues. See CLI Commands.

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MP3 Trigger (SparkFun v2.x)

Fire an MP3 Trigger. The destination is global — set once in Config → MP3 Trigger:

• WCB — unicast a ;A,… command to a WCB ID 1–20 whose own MP3 driver does the serial work (configured there with ?MP3,S<port>).
• Serial — local port S3/S4; NaviCore speaks the MP3 Trigger v2 protocol directly (set the port to 38400 baud).

fn	Function	arg
PLAY	Play track	1–255
PLAYFS	Play by file index	0–255
STOP	Start/stop toggle	—
NEXT	Next track	—
PREV	Previous track	—
VOL	Set volume	0 = loudest … 64 = inaudible
VOLUP	Volume up	—
VOLDN	Volume down	—

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Serial

Write a raw command string to an aux serial port.

• Port: S3 or S4 (set its baud in Config → Aux Serial).
• Command: any string; the dispatcher appends a carriage return.
• (The old "S5" target is gone — GPIO9 is now SBUS OUT.)

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Delays & sequencing

Any action can carry a delay (ms). Delayed actions are queued (up to 8 pending) and fired when their timer elapses — so you can build short sequences within one button, e.g. play a sound now, move a servo 600 ms later.

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