Root Robot Bluetooth Low Energy Protocol Documentation

Root is a toy robot that teaches the basics of coding to kids of all ages and skill levels. For the benefit of developers, makers, and advanced users, we are sharing the Bluetooth Low Energy (BLE) protocol that Root uses to communicate with our app. Using this, you can communicate with Root using any hardware that supports BLE using the language of your choice!

Table of Contents

1. Overview
2. BLE Profile
3. Packet Components
4. Packet Definitions
   • Device 0 - General
   • Device 1 - Motors
   • Device 2 - Marker/Eraser
   • Device 3 - LED Lights
   • Device 4 - Color Sensor
   • Device 5 - Sound
   • Device 11 - IR Proximity
   • Device 12 - Bumpers
   • Device 13 - Light Sensors
   • Device 14 - Battery
   • Device 16 - Accelerometer
   • Device 17 - Touch Sensors
   • Device 19 - Docking Sensors
   • Device 20 - Cliff Sensor
   • Device 100 - Connectivity
5. Example
6. Licenses

Overview

The Root Robot uses Bluetooth Low Energy (BLE) for communication to other computing devices like computers, tablets, or phones. It presents itself as a BLE peripheral and requires a connection from a BLE host to operate. A few properties of the robot can be read from static characteristics, but the bulk of communication is done by exchanging serialized packets through RX and TX characteristics.

You can find more information about BLE here.

BLE Profile

The Root Robot BLE Profile is organized into characteristics nested within services. Each characteristic and service has a unique identifier or UUID, used for access. There are three main services.

1. Root Identifier service 48c5d828-ac2a-442d-97a3-0c9822b04979

This service is used to identify Root Robots and can be used by BLE hosts that implement scan for devices with service methods. The other services are present on other BLE devices but the Root Identifier Service is unique only to Root Robots. This service is empty and contains no characteristics.

2. Device Information service 0000180a-0000-1000-8000-00805f9b34fb

This service contains mostly static information about the Root Robot. It contains the following characteristics.

• Serial Number characteristic 00002a25-0000-1000-8000-00805f9b34fb
  • Serial number string, 12 bytes in length.
  • Ex. RT0123456789
• Firmware Version characteristic 00002a26-0000-1000-8000-00805f9b34fb
  • Firmware version string, up to 12 bytes in length.
  • Ex. 1.0
• Hardware Version characteristic 00002a27-0000-1000-8000-00805f9b34fb
  • Hardware version string, up to 12 bytes in length.
  • Ex. 1.0
• Manufacturer characteristic 00002a29-0000-1000-8000-00805f9b34fb
  • Manufacturer name string, 13 bytes in length.
  • Ex. iRobot
• Robot State characteristic 00008bb6-0000-1000-8000-00805f9b34fb
  • Bitfield of select robot sensors, 2 bytes in length.
  • MSB - 0b00<Cliff><L_Bump><R_Bump><RL_Touch><RR_Touch><FL_Touch><FR_Touch>
  • LSB - 0b0<Battery Percent>
  • This characteristic is broadcast in the advertising packet. It can be read without connecting to the robot to identify which advertising robot is being touched.

3. UART service 6e400001-b5a3-f393-e0a9-e50e24dcca9e

This service represents an emulated UART port based on Nordic Semiconductor's unofficial specification. It contains an RX and TX characteristic, defined from the perspective of the robot.

• RX characteristic 6e400002-b5a3-f393-e0a9-e50e24dcca9e
  • Send packets for robot to execute to this characteristic.
  • Accepts packets of 20 bytes.
  • Supports write with response and write without response methods.
  • If using write without response method, it is the host's responsibility to allow time for the robot to process the packet.
• TX characteristic 6e400003-b5a3-f393-e0a9-e50e24dcca9e
  • Listen to this characteristic for events and responses to packets.
  • Sends packets of 20 bytes.
  • Supports notify and indicate properties.
  • BLE hosts must subscribe to this characteristic before any data can be received from robot.

4. Advertising packet

Before connection, the robot will broadcast an advertising packet and scan response packet that contain the following.

• Root Identifier service UUID
• Robot name
• Robot State characteristic
• Manufacturer Data using manufacturer ID: 0x0600 and containing a string for robot type: ex. RT1 or RT0 or Ci3

BLE Protocol Version

The current BLE protocol version supported on Root is 1.2. (1.3 and 1.4 are planned but not yet released.) A table of main board firmware versions with associated protocol versions is below:

Firmware Version	Protocol Version
2.3	1.3
2.1	1.2
2.0	1.2
1.11	1.2
1.10	1.1
1.8	1.1
1.5	1.1
1.4	1.0
1.3	1.0
1.2	1.0
1.1	1.0
1.0	1.0

The current BLE protocol version supported on Create 3 is 1.4. (1.5 is planned but not yet released.) A table of main board firmware versions with associated protocol versions is below:

Firmware Version	Protocol Version
G.3	1.5
G.2	1.4
G.1	1.3
G.0	1.3

Packet Components

The BLE packets for communication with Root are each 20 bytes long and have a consistent structure:

Device (1 byte)

The robot is organized into a collection of logical and independent devices. Each device is a subsystem of the robot (such as the motors or color sensor) that only accepts packets that pertain to itself. The packets each device accepts are detailed in the sections below.

Command (1 byte)

Each device implements a series of commands. The command number tells each device how to interpret the contents of the payload. Some commands will trigger the robot to send a response packet.

Packet ID (1 byte)

Each packet has an identifying number that can be used to determine if a packet was lost and/or to match responses to the packets that requested them. There are three values that can be in this packet location:

• Inc. - An incremental ID managed by the host. This ID number begins at zero and is incremented each time a packet is sent to the robot. When the unsigned 8-bit incremental ID reaches a value of 255 it should roll over to zero again.
• Req. - The ID from the packet that requested the response. In cases where the packet is a response to a previous request, the packet ID will match the ID from the request. In this way, the first three bytes of a response packet should match the first three bytes of the requesting packet.
• Evt. - An incremental ID managed by the robot. The robot has it's own internal incremental ID used for messages initiated by the robot (e.g. a bumper event). This ID number is incremented each time a packet is sent from the robot not in response to a request from the host. When this unsigned 8-bit incremental ID reaches a value of 255 it will roll over to zero again.

An incremental ID of zero will always be accepted and will reset the count.

Payload (16 bytes)

The content of the packet payload can be up to 16 bytes. Any unused bytes in the payload should be set to zero. Data stored in the payload can be signed or unsigned integers of variable width. Values are always big endian and are packed in a left justified manner on an 8-bit boundary.

Checksum (1 byte)

The last byte of each packet is a checksum calculated from the previous 19 bytes. This is used to check data integrity. The Root Robot uses a CRC-8 algorithm. An implementation of the CRC-8 checksum calculation can be seen here and here. A checksum value of zero is always accepted by the robot if a data integrity check is not needed.

Example packet:

Byte:	0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Type:	Dev	Cmd	ID	Payload																CRC

Timestamp

Some packets contain a timestamp in the payload field. This timestamp is the number of milliseconds that have elapsed since the robot powered on, represented by an unsigned 32-bit integer. This timestamp is continuously incremented and only resets when the robot is power cycled.

Packet Definitions

Each packet sent or received by the robot is defined below, organized by device number.

Device 0 - General

To Robot

---

Command 0 - Get Versions

Request a response packet with Command 0 and matching ID containing the software and hardware version numbers.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	0	Inc.	Board

• Byte 3 - Board (uint8_t)
  • The board ID to request version numbers for. Can be one of 2 values:
    • 0xA5 - Main board.
    • 0xC6 - Color board.

Command 1 - Set Name

Set a new BLE advertising name.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	1	Inc.	Name

• Bytes 3:18 - Name (string)
  • A UTF-8 encoded string containing the new advertising name for the robot.
  • Name string should be null terminated if less than 16 bytes.

Command 2 - Get Name

Request a response packet with Command 2 and matching ID containing the current BLE advertising name.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	2	Inc.

Command 3 - Stop and Reset

Immediately stop the robot and cancel any pending actions. (Same as pressing the stop button in the Root Coding app.)

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	3	Inc.

Command 6 - Disconnect

Instruct robot to immediately terminate BLE connection. This is sometimes faster than disconnecting from BLE host's side.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	6	Inc.

Command 7 - Enable Events

Enable BLE notification for events by devices on the robot. By default, all events are enabled.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	7	Inc.	Devices Bitfield

• Bytes 3:18 - Devices Bitfield (uint128_t)
  • 1 = enable, 0 = no change
  • This is a 128-bit bitfield representing all devices from Device 0 (LSb) to Device 127 (MSb).
  • Device 0 is bit 0 of byte 18
  • Device 127 is bit 7 of byte 3
  • Multiple devices (up to 128) can be enabled with a single command by setting the bits to 1 that match the device numbers to be enabled.

Command 9 - Disable Events

Disable BLE notification for events by device on the robot. By default, all events are enabled.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	9	Inc.	Devices Bitfield

• Bytes 3:18 - Devices Bitfield (uint128_t)
  • 1 = disable, 0 = no change
  • This is a 128-bit bitfield representing all devices from Device 0 (LSb) to Device 127 (MSb).
  • Device 0 is bit 0 of byte 18
  • Device 127 is bit 7 of byte 3
  • Multiple devices (up to 128) can be disabled with a single command by setting the bits to 1 that match the device numbers to be disabled.
  • Note: Device 0 cannot be disabled

Command 11 - Get Enabled Events

Request a response packet with Command 11 and matching ID containing a bitfield of the enabled devices.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	11	Inc.

Command 14 - Get Serial Number

Request a response packet with Command 14 and matching ID containing the product serial number.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	14	Inc.

Command 15 - Get SKU

Request a response packet with Command 15 and matching ID containing the product SKU.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	15	Inc.

From Robot

---

Command 0 - Get Versions Response

Response to Get Versions packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	0	Req.	Board	FW Maj	FW Min	HW Maj	HW Min	Boot Maj	Boot Min	Proto Maj	Proto Min	Patch

• Byte 3 - Board (uint8_t)
  • The board ID to return version numbers for. Can be one of 2 values:
    • 0xA5 - Main board.
    • 0xC6 - Color board.
• Byte 4 - FW Maj (uint8_t)
  • Firmware version major number.
• Byte 5 - FW Min (uint8_t)
  • Firmware version minor number.
• Byte 6 - HW Maj (uint8_t)
  • Hardware version major number.
• Byte 7 - HW Min (uint8_t)
  • Hardware version minor number.
• Byte 8 - Boot Maj (uint8_t)
  • Bootloader version major number.
• Byte 9 - Boot Min (uint8_t)
  • Bootloader version minor number.
• Byte 10 - Proto Maj (uint8_t)
  • Protocol version major number.
• Byte 11 - Proto Min (uint8_t)
  • Protocol version minor number.
• Byte 12 - Patch (uint8_t)
  • Firmware version patch number.

Command 2 - Get Name Response

Response to Get Name packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	2	Req.	Name

• Bytes 3:18 - Name (string)
  • A UTF-8 encoded, null terminated string containing the current BLE advertising name.

Command 4 - Stop Project

An event indicating that the running project should be stopped. This event is typically triggered by pressing the Root robot's nose button, or the Create 3 robot's power button.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	4	Evt.

Command 11 - Get Enabled Events Response

Response to Get Enabled Events packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	11	Req.	Devices Bitfield

• Bytes 3:18 - Devices Bitfield (uint128_t)
  • 1 = enabled, 0 = disabled
  • This is a 128-bit bitfield representing all devices from Device 0 (LSb) to Device 127 (MSb).
  • Device 0 is bit 0 of byte 18
  • Device 127 is bit 7 of byte 3

Command 14 - Get Serial Number Response

Response to Get Serial Number packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	14	Req.	Serial Number

• Bytes 3:14 - Serial Number (string)
  • A UTF-8 encoded string containing the product serial number, 12 bytes in length.

Command 15 - Get SKU

Response to Get SKU packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
0	15	Req.	SKU

• Bytes 3:19 - SKU (string)
  • A UTF-8 encoded, null terminated string containing the product SKU.

Device 1 - Motors

To Robot

---

Command 4 - Set Left and Right Motor Speed

Set the linear velocity for the robot.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	4	Inc.	Left Speed				Right Speed

• Bytes 3:6 - Left Speed (int32_t)
  • Left motor speed in units of mm/s.
  • Positive values are forwards, negative values are backwards.
  • Minimum value of -100 0xFFFFFF9C.
  • Maximum value of 100 0x00000064.
• Bytes 7:10 - Right Speed (int32_t)
  • Right motor speed in units of mm/s.
  • Positive values are forwards, negative values are backwards.
  • Minimum value of -100 0xFFFFFF9C.
  • Maximum value of 100 0x00000064.

Command 6 - Set Left Motor Speed

Set the linear velocity for the left motor only.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	6	Inc.	Left Speed

• Bytes 3:6 - Left Speed (int32_t)
  • Left motor speed in units of mm/s.
  • Positive values are forwards, negative values are backwards.
  • Minimum value of -100 0xFFFFFF9C.
  • Maximum value of 100 0x00000064.

Command 7 - Set Right Motor Speed

Set the linear velocity for the right motor only.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	7	Inc.	Right Speed

• Bytes 3:6 - Right Speed (int32_t)
  • Right motor speed in units of mm/s.
  • Positive values are forwards, negative values are backwards.
  • Minimum value of -100 0xFFFFFF9C.
  • Maximum value of 100 0x00000064.

Command 8 - Drive Distance

Drive a set distance in a straight line. Robot sends a Drive Distance Finished response packet with Command 8 and matching ID when finished.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	8	Inc.	Distance

• Bytes 3:6 - Distance (int32_t)
  • Distance in units of mm.
  • Positive values are forwards, negative values are backwards.
  • Minimum value of -2147483648 0x80000000.
  • Maximum value of 2147483647 0x7FFFFFFF.

Command 12 - Rotate Angle

Rotate in place by a set angle. Robot sends a Rotate Angle Finished response packet with Command 12 and matching ID when finished.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	12	Inc.	Angle

• Bytes 3:6 - Angle (int32_t)
  • Angle in units of decidegrees (1/10 of degrees).
  • Positive values are clockwise, negative values are counterclockwise.
  • Minimum value of -2147483648 0x80000000.
  • Maximum value of 2147483647 0x7FFFFFFF.

Command 13 - Set Gravity Compensation

Set the amount of correction used during vertical driving and when gravity compensation is active.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	13	Inc.	Active	Amount

• Byte 3 - Active (uint8_t)
  • Active is one of three values:
    • 0 - Always off
    • 1 - Always on
    • 2 - Enabled when marker is down (default)
• Bytes 4:5 - Amount (uint16_t)
  • Amount in units of decipercent
  • Minimum value is 0 for 0% (equivalent to always off)
  • Maximum value is 3000 for 300%
  • Default value is 500 for 50%

Command 15 - Reset Position

Reset the estimated robot location to (0, 0) and orientation to 90 degrees of yaw (pointing in the direction of positive-y on a right-handed xy plane). The robot also resets the position when the Root robot nose button (or Create 3 power button) is pressed, when a Stop and Reset packet is received, and when a new Bluetooth connection is made.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	15	Inc.

Command 16 - Get Position

Request a response packet with estimated robot location and orientation.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	16	Inc.

Command 17 - Navigate to Position

Navigate to an coordinate location with an optional end orientation. Robot sends a Navigate to Position Finished response packet with Command 17 and matching ID when finished.

Note: This command is only supported with protocol version 1.4 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	17	Inc.	X				Y				Heading

• Bytes 3:6 - X (int32_t)
  • X coordinate in millimeters.
• Bytes 7:10 - Y (int32_t)
  • Y coordinate in millimeters.
• Bytes 11:12 - Heading (int16_t)
  • Final orientation in decidegrees.
  • Minimum value of 0.
  • Maximum value of 3599.
  • Set to -1 to allow robot to choose final orientation.

Command 19 - Dock

Trigger a docking action. Note: This command is only supported on Create 3 robots with protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	19	Inc.

Command 20 - Undock

Trigger an undocking action. Note: This command is only supported on Create 3 robots with protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	20	Inc.

Command 27 - Drive Arc

Drive the length of an arc defined by a set angle and radius. Robot sends a Drive Arc Finished response packet with Command 27 and matching ID when finished.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	27	Inc.	Angle				Radius

• Bytes 3:6 - Angle (int32_t)
  • Angle in units of decidegrees (1/10 of degrees).
  • Positive values are clockwise, negative values are counterclockwise.
  • Minimum value of -2147483648 0x80000000.
  • Maximum value of 2147483647 0x7FFFFFFF.
• Bytes 7:10 - Radius (int32_t)
  • Radius in units of millimeters.
  • Positive values indicate a rotation point to the right of the robot, negative values indicate a rotation point to the left of the robot.
  • Minimum value of -2147483648 0x80000000.
  • Maximum value of 2147483647 0x7FFFFFFF.

From Robot

---

Command 8 - Drive Distance Finished Response

Response to Drive Distance packet sent after robot has finished driving or interrupted by a new movement command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	8	Req.	Timestamp				X				Y				Heading

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in milliseconds.
• Bytes 7:10 - X (int32_t)
  • Current X coordinate in millimeters.
  • Positive X axis extends out the right side of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 11:14 - Y (int32_t)
  • Current Y coordinate in millimeters.
  • Positive Y axis extends out the front of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 15:16 - Heading (int16_t)
  • Current orientation in decidegrees.
  • Heading is constrained from 0 to 3599.
  • Heading is clockwise negative (Z up) from the robot's initial starting orientation. By default, the robot initially starts at 90 degrees of yaw.

Command 12 - Rotate Angle Finished Response

Response to Rotate Angle packet sent after robot has finished rotating or interrupted by a new movement command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	12	Req.	Timestamp				X				Y				Heading

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in milliseconds.
• Bytes 7:10 - X (int32_t)
  • Current X coordinate in millimeters.
  • Positive X axis extends out the right side of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 11:14 - Y (int32_t)
  • Current Y coordinate in millimeters.
  • Positive Y axis extends out the front of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 15:16 - Heading (int16_t)
  • Current orientation in decidegrees.
  • Heading is constrained from 0 to 3599.
  • Heading is clockwise negative (Z up) from the robot's initial starting orientation. By default, the robot initially starts at 90 degrees of yaw.

Command 16 - Get Position Response

Response to Get Position packet with estimated robot location and orientation.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	16	Req.	Timestamp				X				Y				Heading

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in milliseconds.
• Bytes 7:10 - X (int32_t)
  • Current X coordinate in millimeters.
  • Positive X axis extends out the right side of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 11:14 - Y (int32_t)
  • Current Y coordinate in millimeters.
  • Positive Y axis extends out the front of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 15:16 - Heading (int16_t)
  • Current orientation in decidegrees.
  • Heading is constrained from 0 to 3599.
  • Heading is clockwise negative (Z up) from the robot's initial starting orientation. By default, the robot initially starts at 90 degrees of yaw.

Command 17 - Navigate to Position Finished Response

Note: This response is only supported with protocol version 1.4 or greater.

Response to Navigate to Position packet sent after robot has finished driving or interrupted by a new movement command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	17	Req.	Timestamp				X				Y				Heading

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in milliseconds.
• Bytes 7:10 - X (int32_t)
  • Current X coordinate in millimeters.
  • Positive X axis extends out the right side of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 11:14 - Y (int32_t)
  • Current Y coordinate in millimeters.
  • Positive Y axis extends out the front of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 15:16 - Heading (int16_t)
  • Current orientation in decidegrees.
  • Heading is constrained from 0 to 3599.
  • Heading is clockwise negative (Z up) from the robot's initial starting orientation. By default, the robot initially starts at 90 degrees of yaw.

Command 19 - Dock

Response to docking action trigger, sent after action is complete. Note: This command is only supported on Create 3 robots with protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	19	Req.	Timestamp				Status	Result

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in milliseconds.
• Byte 7 - Status (int8_t)
  • Status code corresponding to ROS 2 Action Status as follows:
    • 0 - Succeeded
    • 1 - Aborted
    • 2 - Canceled
• Byte 8 - Result (int8_t)
  • Result code corresponding to ROS 2 Action Status as follows:
    • 0 - Is not docked.
    • 1 - Is docked.

Command 20 - Undock

Response to undocking action trigger, sent after action is complete. Note: This command is only supported on Create 3 robots with protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	19	Req.	Timestamp				Status	Result

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in milliseconds.
• Byte 7 - Status (int8_t)
  • Status code corresponding to ROS 2 Action Status as follows:
    • 0 - Succeeded
    • 1 - Aborted
    • 2 - Canceled
• Byte 8 - Result (int8_t)
  • Result code corresponding to ROS 2 Action Status as follows:
    • 0 - Is not docked.
    • 1 - Is docked.

Command 27 - Drive Arc Finished Response

Response to Drive Arc packet sent after robot has finished driving or interrupted by a new movement command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	27	Req.	Timestamp				X				Y				Heading

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in milliseconds.
• Bytes 7:10 - X (int32_t)
  • Current X coordinate in millimeters.
  • Positive X axis extends out the right side of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 11:14 - Y (int32_t)
  • Current Y coordinate in millimeters.
  • Positive Y axis extends out the front of the robot from its initial starting position.
  • Note that the robot's default starting position is at the origin looking along the positive Y axis in a right-handed coordinate system.
• Bytes 15:16 - Heading (int16_t)
  • Current orientation in decidegrees.
  • Heading is constrained from 0 to 3599.
  • Heading is clockwise negative (Z up) from the robot's initial starting orientation. By default, the robot initially starts at 90 degrees of yaw.

Command 29 - Motor Stall Event

Motor has stalled event. The robot sends a Motor Stall Event whenever a stall is detected for one of the motors.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
1	29	Evt.	Timestamp				Motor	Cause

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - Motor (uint8_t)
  • Stalled motor. Can be one of 3 values:
    • 0 - Left motor.
    • 1 - Right motor.
    • 2 - Marker/eraser motor.
• Byte 8 - Cause (uint8_t)
  • Cause for motor stall. Can be one of 6 values:
    • 0 - No stall.
    • 1 - Overcurrent.
    • 2 - Undercurrent.
    • 3 - Underspeed.
    • 4 - Saturated PID.
    • 5 - Timeout.

Device 2 - Marker/Eraser

Note: This device is not supported on Create 3.

To Robot

---

Command 0 - Set Marker/Eraser Position

Set the position of the marker/eraser actuator. Robot sends a Marker/Eraser Position Finished packet with Command 0 and matching ID when finished.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
2	0	Inc.	Position

• Byte 3 - Position (uint8_t)
  • Position can be one of three values:
    • 0 - Marker Up/Eraser Up
    • 1 - Marker Down/Eraser Up
    • 2 - Marker Up/Eraser Down

From Robot

---

Command 0 - Marker/Eraser Position Finished Response

Response to Set Marker/Eraser Position sent after marker/eraser actuator has finished moving or interrupted by a new marker command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
2	0	Req.	Position

• Byte 3 - Position (uint8_t)
  • Position is one of three values:
    • 0 - Marker Up/Eraser Up
    • 1 - Marker Down/Eraser Up
    • 2 - Marker Up/Eraser Down

Device 3 - LED Lights

To Robot

---

Command 2 - Set LED Animation

Set LED cross animation type and color.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
3	2	Inc.	State	Red	Green	Blue

• Byte 3 - State (uint8_t)
  • LED State can be one of four values:
    • 0 - Off
    • 1 - On
    • 2 - Blink Animation
    • 3 - Spin Animation
• Byte 4 - Red (uint8_t)
  • Brightness level for the red LED channel.
  • Off is 0, Full brightness is 255.
• Byte 5 - Green (uint8_t)
  • Brightness level for the green LED channel.
  • Off is 0, Full brightness is 255.
• Byte 6 - Blue (uint8_t)
  • Brightness level for the blue LED channel.
  • Off is 0, Full brightness is 255.

Device 4 - Color Sensor

Note: This device is not supported on Create 3 or RT0.

To Robot

---

Command 1 - Get Color Sensor Data

Request a response packet with Command 1 and matching ID with color sensor data.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
4	1	Inc.	Bank	Lighting	Format

• Byte 3 - Sensor Bank (uint8_t)
  • 32 color sensors are split into 4 banks of 8 sensors from left to right. Bank can be one of 4 values:
    • 0 - Sensors 0 to 7
    • 1 - Sensors 8 to 15
    • 2 - Sensors 16 to 23
    • 3 - Sensors 24 to 31
• Byte 4 - Lighting (uint8_t)
  • Set the LED illumination during measurement. Lighting can be one of 5 values:
    • 0 - Off
    • 1 - Red
    • 2 - Green
    • 3 - Blue
    • 4 - All
• Byte 5 - Format (uint8_t)
  • Set the data format. Format can be one of 2 values:
    • 0 - 12-bit ADC counts
    • 1 - millivolts

From Robot

---

Command 1 - Color Sensor Data Response

Response to Get Color Sensor Data packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
4	1	Req.	Data		Data		Data		Data		Data		Data		Data		Data

• Byte 3:18 - Data (uint16_t)
  • Eight 16-bit color sensor values.
  • For the sensors left to right in the bank selected by the Get Color Data packet. The value in bytes 3-4 is leftmost.
  • In the format selected by the Get Color Data packet.

Command 2 - Color Sensor Event

Detected new color event. The robot sends a Color Sensor Event whenever one of the 32 color sensors identifies a change in color underneath the robot.

0	1	2	3		4		5		6		7		8		9		10		11		12		13		14		15		16		17		18		19
Dev	Cmd	ID	Payload																																CRC
4	2	Evt.	Sensor 0 Color	Sensor 1 Color	Sensor 2 Color	Sensor 3 Color	Sensor 4 Color	Sensor 5 Color	Sensor 6 Color	Sensor 7 Color	Sensor 8 Color	Sensor 9 Color	Sensor 10 Color	Sensor 11 Color	Sensor 12 Color	Sensor 13 Color	Sensor 14 Color	Sensor 15 Color	Sensor 16 Color	Sensor 17 Color	Sensor 18 Color	Sensor 19 Color	Sensor 20 Color	Sensor 21 Color	Sensor 22 Color	Sensor 23 Color	Sensor 24 Color	Sensor 25 Color	Sensor 26 Color	Sensor 27 Color	Sensor 28 Color	Sensor 29 Color	Sensor 30 Color	Sensor 31 Color

• Nibbles 6:37 - Color (uint4_t)
  • 32 4-bit identified color values.
  • In order from left to right, sensor 0 to sensor 31. To clarify, byte 3 is "leftmost," and upper nibbles are considered "to the left" of lower nibbles.
  • Color can have one of 5 values; other values are undefined and treated as white:
    • 0 - White
    • 1 - Black
    • 2 - Red
    • 3 - Green
    • 4 - Blue

Device 5 - Sound

To Robot

---

Command 0 - Play Note

Play a frequency from the robot's buzzer. Robot sends a Play Note Finished response packet with Command 0 and matching ID when finished.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
5	0	Inc.	Frequency				Duration

• Byte 3:6 - Frequency (uint32_t)
  • Frequency of note in units of Hz.
• Byte 7:8 - Duration (uint16_t)
  • Duration of note in units of milliseconds.
  • A duration of zero cancels any currently playing notes.

Command 1 - Stop Sound

Immediately stop any playing any sound.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
5	1	Inc.

Command 4 - Say Phrase

Speak a text string in robot language. Robot sends a Say Phrase Finished response packet with Command 4 and matching ID when finished.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
5	4	Inc.	Phrase

• Bytes 3:18 - Phrase (string)
  • UTF-8 encoded string with text to speak.
  • String should be null terminated if less than 16 bytes.

Command 5 - Play Sweep

Sweep linearly between two frequencies over a specified duration. Robot sends a Play Sweep Finished response packet with Command 5 and matching ID when finished.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
5	5	Inc.	Start Frequency				End Frequency				Duration		Attack	Release	Volume	Modulation Type	Modulation Rate	Append

• Bytes 3:6 - Start Frequency (uint32_t)
  • Frequency to start sweep in units of milli-Hertz.
• Bytes 7:10 - End Frequency (uint32_t)
  • Frequency to end sweep in units of milli-Hertz.
• Bytes 11:12 - Duration (uint16_t)
  • Time to play sweep in units of milliseconds.
• Byte 13 - Attack (uint8_t)
  • Time to ramp volume from zero to maximum in units of milliseconds.
  • Attack + Release cannot be greater than Duration.
• Byte 14 - Release (uint8_t)
  • Time to ramp volume from maximum to zero in units of milliseconds.
  • Attack + Release cannot be greater than Duration.
• Byte 15 - Volume (uint8_t)
  • Volume from 0 (silent) to 255 (max).
• Byte 16 - Modulation Type (uint8_t)
  • Modulate a sound property while a tone is playing. Can be one of 4 values:
    • 0 - Disabled.
    • 1 - Volume.
    • 2 - Pulse Width.
    • 3 - Frequency.
• Byte 17 - Modulation Rate (uint8_t)
  • Modulation Rate in units of Hertz.
• Byte 18 - Append (uint8_t)
  • If this byte is non-zero the Sweep will start after the currently playing Sweep is finished, instead of interrupting.
  • Only one Sweep can be pending, sending more Sweep packets with Append set will overwrite the pending Sweep.

From Robot

---

Command 0 - Play Note Finished Response

Response to Play Note packet sent after robot has finished playing note or interrupted by a new sound command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
5	0	Req.

Command 4 - Say Phrase Finished Response

Response to Say Phrase packet sent after robot has finished speaking phrase or interrupted by a new sound command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
5	4	Req.

Command 5 - Play Sweep Finished Response

Response to Play Sweep packet sent after robot has finished playing sweep or interrupted by a new sound command.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
5	5	Req.

Device 11 - IR Proximity

Note: This device is not supported on Root robots.

To Robot

---

Command 1 - Get IR Proximity Values with Timestamp

Request a response packet with Command 1 and matching ID containing values from the leftmost six IR proximity sensors. This command is only supported in protocol version 1.4 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
11	1	Inc.

Command 2 - Get Packed IR Proximity Values and States

Request a response packet with Command 2 and matching ID containing values from all seven IR proximity sensors. This command is only supported in protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
11	2	Inc.

Command 3 - Set Event Thresholds

Set thresholds and shared hysteresis for IR sensors. This command is only supported in protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
11	3	Inc.	Hysteresis		Sensor 0		Sensor 1		Sensor 2		Sensor 3		Sensor 4		Sensor 5		Sensor 6

• Bytes 3:4 - Hysteresis (uint16_t)
  • Hysteresis in units of counts; threshold will trigger on the rising edge at the threshold point, but at the falling edge will not trigger until this number of counts below the threshold value.
• Bytes 5:6 - Sensor 0 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 7:8 - Sensor 1 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 9:10 - Sensor 2 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 11:12 - Sensor 3 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 13:14 - Sensor 4 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 15:16 - Sensor 5 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 17:18 - Sensor 6 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).

Command 4 - Get Event Thresholds

Request a response packet with Command 4 and matching ID containing thresholds and shared hysteresis for IR sensors. This command is only supported in protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
11	4	Inc.

From Robot

---

Command 0 - IR Proximity Event

IR Proximity changed event. The robot sends a IR Proximity event whenever any of the IR Proximity sensors crosses a threshold with hysteresis. The sensors return 12-bit values, which are packed as described. This command is only supported in protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15		16		17		18		19
Dev	Cmd	ID	Payload																				CRC
11	0	Evt.	Timestamp				State	Sensor 0 MSB	Sensor 1 MSB	Sensor 2 MSB	Sensor 3 MSB	Sensor 4 MSB	Sensor 5 MSB	Sensor 6 MSB	Sensor 0 LSN	Sensor 1 LSN	Sensor 2 LSN	Sensor 3 LSN	Sensor 4 LSN	Sensor 5 LSN	Sensor 6 LSN

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - State (uint8_t)
  • Bitflag for state of triggered/untriggered sensors.
    • 0 - Sensor is not triggered.
    • 1 - Sensor is triggered.
• Byte 8 - Sensor 0 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 9 - Sensor 1 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 10 - Sensor 2 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 11 - Sensor 3 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 12 - Sensor 4 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 13 - Sensor 5 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 14 - Sensor 6 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 15 - Sensor 0+1 LSNs (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 0 in upper nibble, sensor 1 in lower nibble.
• Byte 16 - Sensor 2+3 LSNs (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 2 in upper nibble, sensor 3 in lower nibble.
• Byte 17 - Sensor 4+5 LSNs (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 4 in upper nibble, sensor 5 in lower nibble.
• Byte 18 - Sensor 6 LSN (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 6 in upper nibble, lower nibble is undefined.

Command 1 - Get IR Proximity Values with Timestamp Response

Response to Get IR Proximity Values with Timestamp packet. This command is only supported in protocol version 1.4 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
11	1	Req.	Timestamp				Sensor 0		Sensor 1		Sensor 2		Sensor 3		Sensor 4		Sensor 5

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Bytes 7:8 - Sensor 0 (uint16_t)
  • Reflective IR sensor value in units of counts (0-4095 inclusive).
• Bytes 9:10 - Sensor 1 (uint16_t)
  • Reflective IR sensor value in units of counts (0-4095 inclusive).
• Bytes 11:12 - Sensor 2 (uint16_t)
  • Reflective IR sensor value in units of counts (0-4095 inclusive).
• Bytes 13:14 - Sensor 3 (uint16_t)
  • Reflective IR sensor value in units of counts (0-4095 inclusive).
• Bytes 15:16 - Sensor 4 (uint16_t)
  • Reflective IR sensor value in units of counts (0-4095 inclusive).
• Bytes 17:18 - Sensor 5 (uint16_t)
  • Reflective IR sensor value in units of counts (0-4095 inclusive).

Command 2 - Get Packed IR Proximity Values and States Response

Response to Get Packed IR Proximity Values and States packet. The sensors return 12-bit values, which are packed as described. This command is only supported in protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15		16		17		18		19
Dev	Cmd	ID	Payload																				CRC
11	2	Req.	Timestamp				State	Sensor 0 MSB	Sensor 1 MSB	Sensor 2 MSB	Sensor 3 MSB	Sensor 4 MSB	Sensor 5 MSB	Sensor 6 MSB	Sensor 0 LSN	Sensor 1 LSN	Sensor 2 LSN	Sensor 3 LSN	Sensor 4 LSN	Sensor 5 LSN	Sensor 6 LSN

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - State (uint8_t)
  • Bitflag for state of triggered/untriggered sensors.
    • 0 - Sensor is not triggered.
    • 1 - Sensor is triggered.
• Byte 8 - Sensor 0 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 9 - Sensor 1 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 10 - Sensor 2 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 11 - Sensor 3 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 12 - Sensor 4 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 13 - Sensor 5 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 14 - Sensor 6 MSB (uint8_t)
  • High eight bits of reflective IR sensor value.
• Byte 15 - Sensor 0+1 LSNs (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 0 in upper nibble, sensor 1 in lower nibble.
• Byte 16 - Sensor 2+3 LSNs (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 2 in upper nibble, sensor 3 in lower nibble.
• Byte 17 - Sensor 4+5 LSNs (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 4 in upper nibble, sensor 5 in lower nibble.
• Byte 18 - Sensor 6 LSN (uint8_t)
  • Low four bits of reflective IR sensor values; sensor 6 in upper nibble, lower nibble is undefined.

Command 4 - Get Event Thresholds Response

Response packet for Get Event Thresholds containing thresholds and shared hysteresis for IR sensors. This command is only supported in protocol version 1.5 or greater.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
11	4	Req.	Hysteresis		Sensor 0		Sensor 1		Sensor 2		Sensor 3		Sensor 4		Sensor 5		Sensor 6

• Bytes 3:4 - Hysteresis (uint16_t)
  • Hysteresis in units of counts; threshold will trigger on the rising edge at the threshold point, but at the falling edge will not trigger until this number of counts below the threshold value.
• Bytes 5:6 - Sensor 0 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 7:8 - Sensor 1 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 9:10 - Sensor 2 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 11:12 - Sensor 3 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 13:14 - Sensor 4 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 15:16 - Sensor 5 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).
• Bytes 17:18 - Sensor 6 (uint16_t)
  • Reflective IR sensor threshold value in units of counts (0-4095 inclusive).

Device 12 - Bumpers

From Robot

---

Command 0 - Bumper Event

Bumper state changed event. The robot sends a Bumper Event whenever one of the bumpers is pressed or released.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
12	0	Evt.	Timestamp				State

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - State (uint8_t)
  • New bumper state. Can be one of 4 values:
    • 0x00 - No bumpers pressed.
    • 0x40 - Right bumper pressed.
    • 0x80 - Left bumper pressed.
    • 0xC0 - Both bumpers pressed.

Device 13 - Light Sensors

Note: This device is not supported on Create 3.

To Robot

---

Command 1 - Get Light Values

Request a response packet with Command 1 and matching ID containing values from the ambient light sensors.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
13	1	Inc.

From Robot

---

Command 0 - Light Event

Ambient light changed event. The robot sends a Light Event whenever a new ambient light state from the robot's eyes is detected.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
13	0	Evt.	Timestamp				State	Left		Right

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - State (uint8_t)
  • New ambient light state. Can be one of 4 values:
    • 4 - Both eyes dark.
    • 5 - Right eye brighter than left eye.
    • 6 - Left eye brighter than right eye.
    • 7 - Both eyes bright.
• Bytes 8:9 - Left (uint16_t)
  • Left eye ambient light level in units of millivolts.
• Bytes 10:11 - Right (uint16_t)
  • Right eye ambient light level in units of millivolts.

Command 1 - Get Light Values Response

Response to Get Light Values packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
13	1	Req.	Timestamp				Left		Right

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Bytes 7:8 - Left (uint16_t)
  • Left eye ambient light level in units of millivolts.
• Bytes 9:10 - Right (uint16_t)
  • Right eye ambient light level in units of millivolts.

Device 14 - Battery

To Robot

---

Command 1 - Get Battery Level

Request a response packet with Command 1 and matching ID containing the battery level.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
14	1	Inc.

From Robot

---

Command 0 - Battery Level Event

Battery level changed event. The robot sends a Battery Level Event whenever the battery level drops by more than 10%.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
14	0	Evt.	Timestamp				Voltage		Percent

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Bytes 7:8 - Voltage (uint16_t)
  • Battery voltage in units of millivolts.
• Byte 9 - Percent (uint8_t)
  • Battery percent.

Command 1 - Get Battery Level Response

Response to Get Battery Level packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
14	1	Req.	Timestamp				Voltage		Percent

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Bytes 7:8 - Voltage (uint16_t)
  • Battery voltage in units of millivolts.
• Byte 9 - Percent (uint8_t)
  • Battery percent.

Device 16 - Accelerometer

To Robot

---

Command 1 - Get Accelerometer

Request a response packet with Command 1 and matching ID containing accelerometer data.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
16	1	Inc.

From Robot

---

Command 1 - Get Accelerometer Response

Response to Get Accelerometer packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
16	1	Req.	Timestamp				X		Y		Z

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Bytes 7:8 - X (int16_t)
  • X axis acceleration in units of milli-g.
• Bytes 9:10 - Y (int16_t)
  • Y axis acceleration in units of milli-g.
• Bytes 11:12 - Z (int16_t)
  • Z axis acceleration in units of milli-g.

Device 17 - Touch Sensors

From Robot

---

Command 0 - Touch Sensor Event

Touch Sensor changed event. The robot sends a Touch Sensor Event whenever one or more of the four top touch sensors are pressed or released.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
17	0	Evt.	Timestamp				State

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7, upper nibble - State (uint4_t)
  • Bitfield for the state of touch sensors.
  • Most significant 4 bits of byte 7.
  • Sensor is touched if bit is set.
  • Sensor is untouched if bit is clear.
  • Format - 0b<FL><FR><RR><RL> where:
    • FL - Front Left sensor.
    • FR - Front Right sensor.
    • RR - Rear Right sensor.
    • RL - Rear Left sensor.

Note that the Create 3 robot maps button 1 (·) to FL and button 2 (··) to FR.

Device 19 - Docking Sensors

Note: This device is not supported on Root Robots. It is only supported in protocol version 1.5 or greater.

To Robot

---

Command 1 - Get Docking Values

Request a response packet with Command 1 and matching ID containing values from the docking sensors.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
19	1	Inc.

From Robot

---

Command 0 - Docking Sensor Event

Docking Sensor changed event. The robot sends a Docking Sensor change event whenever a state from the robot's docking sensors (contacts or IR) is detected.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
19	0	Evt.	Timestamp				Contacts	IR Sensor 0	IR Sensor 1	IR Sensor 2

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - Contacts (uint8_t)
  • New docking contacts state. Can be one of two values:
    • 0 - Disconnected from the dock.
    • 1 - Connected to the dock.
• Byte 8 - IR Sensor 0 (uint8_t)
  • Sensor 0 character received on IR port (halo on Create 3)
• Byte 9 - IR Sensor 1 (uint8_t)
  • Sensor 1 character received on IR port (front docking sensor on Create 3)
• Byte 10 - IR Sensor 2 (uint8_t)
  • Sensor 2 character received on IR port (unused on Create 3)

Command 1 - Get Docking Values Response

Response to Get Docking Values packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
19	1	Req.	Timestamp				Contacts	IR Sensor 0	IR Sensor 1	IR Sensor 2

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - Contacts (uint8_t)
  • New docking contacts state. Can be one of two values:
    • 0 - Disconnected from the dock.
    • 1 - Connected to the dock.
• Byte 8 - IR Sensor 0 (uint8_t)
  • Sensor 0 character received on IR port (halo on Create 3)
• Byte 9 - IR Sensor 1 (uint8_t)
  • Sensor 1 character received on IR port (front docking sensor on Create 3)
• Byte 10 - IR Sensor 2 (uint8_t)
  • Sensor 2 character received on IR port (unused on Create 3)

Device 20 - Cliff Sensor

From Robot

---

Command 0 - Cliff Event

Cliff detected event. The robot sends a Cliff Event whenever the IR cliff sensor detects the front of the robot is over a cliff or a detected cliff is no longer present.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
20	0	Evt.	Timestamp				Cliff	Sensor		Threshold

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - Cliff (uint8_t)
  • Cliff state. Reads 0 if no cliff; any other value indicates that the robot is experiencing a cliff event.
• Bytes 8:9 - Sensor (uint16_t)
  • Current cliff sensor value in units of millivolts.
• Bytes 10:11 - Threshold (uint16_t)
  • Current cliff sensor threshold in units of millivolts.

Device 100 - Connectivity

Note: this device is not supported on Root robots.

To Robot

---

Command 1 - Get IPv4 Addresses

Request a response packet with Command 1 and matching ID containing the IPv4 addresses of all of the robot's interfaces

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
100	1	Inc.

Command 2 - Request Easy Update

Request the robot to, if connected to the Internet, download and install the most recent firmware update from iRobot.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
100	2	Inc.

From Robot

---

Command 0 - IPv4 Change Event

Connection status changed event. The robot sends a connection status event when any of its network interfaces changes state.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
100	0	Evt.	wlan0				wlan1				usb0

• Bytes 3:6 - wlan0 (uint32_t)
  • IPv4 address assigned to wlan0.
• Bytes 7:10 - wlan1 (uint32_t)
  • IPv4 address assigned to wlan1.
• Bytes 11:14 - usb0 (uint32_t)
  • IPv4 address assigned to usb0.

Command 1 - Get IPv4 Addresses Response

Response to Get IPv4 Addresses packet.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
100	1	Inc.	wlan0				wlan1				usb0

• Bytes 3:6 - wlan0 (uint32_t)
  • IPv4 address assigned to wlan0.
• Bytes 7:10 - wlan1 (uint32_t)
  • IPv4 address assigned to wlan1.
• Bytes 11:14 - usb0 (uint32_t)
  • IPv4 address assigned to usb0.

Command 3 - Easy Update Event

Events for feedback during an easy update.

0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15	16	17	18	19
Dev	Cmd	ID	Payload																CRC
100	3	Evt.	Timestamp				Stage	Percent

• Bytes 3:6 - Timestamp (uint32_t)
  • Timestamp in units of milliseconds.
• Byte 7 - Stage (uint8_t)
  • Character indicating what stage of the update the robot is in. Current valid values are:
    • d - downloading
    • i - installing
• Byte 8 - Percent (int8_t)
  • Percentage of current stage completed (between 0 and 100, inclusive), or -1 if there is an error.

Example

Implementing a robot programming environment or full SDK is beyond the scope of this document, however the robot-driver.sh shell script demonstrates how to drive a Root robot with the arrow keys on a computer keyboard using the BLE protocol.

It utilizes pre-calculated motor packets with static speeds and checksums. The incremental ID section for each packet is set to zero. This way each packet resets the ID count and is accepted.

This script is targeted for a Raspberry Pi (3B, 3B+, Zero W) computer running the Raspian Stretch distribution. However, it should also work on any Linux computer with Bash >4.0, Bluez >5.0, and BLE hardware.

Additional information and instructions are documented within the script:

###############################################################################
#       ┏━━━┓       Usage Instructions:
#       ┃ ▲ ┃       1. Copy this file to a Raspberry Pi running Raspian Stretch
#       ┗━━━┛       2. Turn on Root Robot
# ┏━━━┓ ┏━━━┓ ┏━━━┓ 3. Run this script from command line with bash:
# ┃ ◄ ┃ ┃ ▼ ┃ ┃ ► ┃     pi@raspberrypi:~ $ bash robot-driver.sh
# ┗━━━┛ ┗━━━┛ ┗━━━┛ 4. Use keyboard arrow keys to drive, CTRL-C to exit
###############################################################################

Licenses

Documentation

Root Robot Bluetooth Low Energy Protocol Documentation (c) by iRobot Corporation.

Root Robot Bluetooth Low Energy Protocol Documentation is licensed under a Creative Commons Attribution 4.0 International License.

You should have received a copy of the license along with this work. If not, see http://creativecommons.org/licenses/by/4.0/

Software

Root Robot Bluetooth Low Energy Protocol examples and other software files are licensed under an MIT License.

You should have received a copy of the license along with this work.