Source Code

Vector Control

Overview

Control Vector through Wirepod’s /api-sdk/* endpoints and the camera stream at /cam-stream. Use this skill for movement, speech, camera snapshots, patrols, and exploration from the Pi.

Quick start (CLI)

Use the bundled script:

python3 skills/vector-control/scripts/vector_control.py --serial <ESN> assume
python3 skills/vector-control/scripts/vector_control.py --serial <ESN> say --text "Hello Dom"
python3 skills/vector-control/scripts/vector_control.py --serial <ESN> move --lw 160 --rw 160 --time 1.5
python3 skills/vector-control/scripts/vector_control.py --serial <ESN> snapshot --out /tmp/vector.mjpg

Find ESN/serial

If you don’t have it, read:

/etc/wire-pod/wire-pod/jdocs/botSdkInfo.json

Tasks

1) Assume / Release control

Always assume before movement, and release if the bot tips or a human needs manual control.

python3 .../vector_control.py --serial <ESN> assume
python3 .../vector_control.py --serial <ESN> release

2) Movement

move sends wheel speeds (0–200 typical). Use short timed moves.

python3 .../vector_control.py --serial <ESN> move --lw 120 --rw 120 --time 1.0

3) Head / Lift

python3 .../vector_control.py --serial <ESN> head --speed -2 --time 1.0
python3 .../vector_control.py --serial <ESN> lift --speed 2 --time 1.0

4) Speech

Speech can be interrupted by motion/camera. If it fails, pause after speaking before moving.

python3 .../vector_control.py --serial <ESN> say --text "Sneaking forward"
# wait 1–2s, then move

5) Camera snapshot

/cam-stream returns MJPG. Save it and convert to JPEG if needed (ffmpeg).

python3 .../vector_control.py --serial <ESN> snapshot --out /tmp/vector.mjpg
ffmpeg -y -loglevel error -i /tmp/vector.mjpg -frames:v 1 /tmp/vector.jpg

6) Play Audio (MP3/WAV)

Streams an audio file through Vector's speaker. Automatically converts to the required format (8kHz mono WAV).

python3 .../vector_control.py --serial <ESN> play --file /path/to/music.mp3

7) Patrol (deterministic sweep)

python3 .../vector_control.py --serial <ESN> patrol --steps 6 --speed 140 --step-time 1.2 --turn-time 0.8 --speak --phrase "Patrolling"

8) Explore (randomized wander)

python3 .../vector_control.py --serial <ESN> explore --steps 8 --speak --phrase "Exploring"

References

references/wirepod-api.md — endpoint list and notes.

Resources

scripts/

vector_control.py — CLI for basic control + patrol/explore routines.

references/

wirepod-api.md — HTTP API endpoints and usage notes.