Here is the command set: connectRobot(long State) --connect to the Robot over ttyS1 disconnectRobot() --disconnect from Robot (and turn off sensors) irOn() / irOff() --activate/deactivate the infrared sensor array sonarOn() / sonarOff() --activate/deactivate the sonar sensor array vm(long translation_velocity, long rotation_velocity) --translation in mm/sec, rotation in radians/1000/sec vam(long translation_velocity, // mmeters/sec long translation_acceleration, // mmeters/sec/sec long rotation_velocity, // radians/1000/sec long rotation_acceleration) // radians/1000/sec/sec --translation and acceleration zr() --zero the odometry (happens automatically on connectRobot) jump(long x, long y, long theta) --jump the odometry to a certain pose ************************************************************** The State vector is used to read sensor data, odometry, etc. ex: "if (State[STATE_IR_0] < 100) vm(0,0);" The constants commonly used to access State are: STATE_SONAR_0 - STATE_SONAR_15 --Sonar 0 is the front sonar, then count clockwise STATE_IR_0 - STATE_IR_15 --IR 0 is the front IR, then count clockwise STATE_BUMPER --Each bit in STATE_BUMPER is one of the bumpers. Bumper 4 ex: "if (State[STATE_BUMPER]>>3 == 1) vm(0,0); STATE_X STATE_Y STATE_T --Return the robot's odometry estimates for the current x, y, and theta.