Welcome to the server.

You can type 'help' at any time for the following help list.
Commands:
addCustomCommand
Adds a custom command that'll send a message
out ARCL when called
addCustomStringCommand
Adds a custom string command that'll
send a message out ARCL when called
analogInputList
Lists the named analog inputs
analogInputQueryRaw
Queries the state of an analog input by raw
analogInputQueryVoltage
Queries the state of an analog input by
voltage
applicationBlockDrivingClear
Clears an application blockDriving [abdc]
applicationBlockDrivingSet
Sets an application blockDriving [abds]
applicationFaultClear
Clears an application fault [afc]
applicationFaultQuery
Gets the list of any application faults currently
triggered [afq]
applicationFaultSet
Sets an application fault [afs]
arclSendText
Sends the given message to all ARCL clients
centralServer
Gets information about the central server connection
connectOutgoing
(re)connects a socket to the given outside server
createInfo
creates a piece of information
distanceBetween
Finds the path distance between two given goals
(this uses up a lot of CPU, do not use while the robot is driving)
distanceFromHere
Finds the path distance from here to a given goal
(this uses up a lot of CPU, do not use while the robot is driving)
dock
Sends the robot to the dock
doTask
does a task
doTaskInstant
does an instant task (doesn't interrupt modes)
echo
with no args gets echo, with args sets echo
enableMotors
Enables the motors so the robot can drive again
etaRequest
Gets the estimated time until we reach our goal
executeMacro
executes a given macro
extIOAdd
Adds the external digital inputs and outputs
extIOInputUpdate
Updates the external digital inputs
extIOOutputUpdate
Updates the external digital outputs
extIORemove
Removes the external digital inputs and outputs
faultsGet
Gets the list of any faults currently triggered [fg]
follow
Follow
getConfigSectionInfo
Gets the info about a section of the config
getConfigSectionList
Gets the list of sections in the config
getConfigSectionValues
Gets the values in a section of the config
getDataStoreFieldInfo
Gets the info on a field in the Data Store [dsfi]
getDataStoreFieldList
Gets the list of field names in the Data Store
[dsfl]
getDataStoreFieldValues
Gets the values of a field in the Data Store
[dsfv]
getDataStoreGroupInfo
Gets the info on a group in the Data Store
[dsgi]
getDataStoreGroupList
Gets the list of groups in the Data Store [dsgl]
getDataStoreGroupValues
Gets the values of a group in the Data Store
[dsgv]
getDataStoreTripGroupList
Gets the list of groups with trip values in
the Data Store [dstgl]
getDateTime
gets the date and time

getGoals
gets a list of goals in the map (for use with goto)
getInfo
Gets a piece of information
getInfoList
Gets the list of info available from 'getInfo'
getMacros
gets a list of macros in the map (for use with
executeMacro)
getPayload
gets the payload
getPoseEncoder
Gets the encoder pose of the robot
getRoutes
gets the routes the robot has
go
Stops the robot from any wait it is doing then resume
patrolling or makes the robot idle 2 minutes so that it will resume doing
queued jobs (with the right parameters). See also stay.
goalDistanceRemaining
Gets the distance remaining to robots goals
goalDistanceRemainingLocal
Gets the distance remaining to this
robot's goal
goto
goes to given goal (heading after goal optional)
gotoPoint
goes to given point <x> <y> <heading:optional>
gotoRouteGoal
Goes to a specified goal in the given route
help
gives the listing of available commands (optionally with
prefix)
inputList
Lists the named digital inputs [inL]
inputQuery
Queries the state of a named digital input [inQ]
listAdd
adds a task to the task list
listExecute
executes the task list
listStart
starts a new task list (overwrites previous)
localizeToPoint
Localizes to a given point, optionally with spread
log
Logs the message to the normal log file
mapObjectInfo
Gets the information about a map object specified by
name.
mapObjectList
Gets a list the map objects of a given type.
mapObjectTypeInfo
Gets information about a particular type of map
object.
mapObjectTypeList
Gets a list of the types of map objects in the map.
mapObjectUpdate
Creates or updates a map object with the specified
data.
modeLock
Locks the current mode
modeQuery
Queries the current mode and it's lock status
modeUnlock
Unlocks the current mode
newConfigParam
Adds a new param to the config (shows up in MP)
newConfigParamEnd
Finishes adding multiple params to the config.
Must be paired with a newConfigParamStart.
newConfigParamStart
Starts adding multiple params to the config.
Optional. If specified, must be followed by a newConfigParamEnd.
newConfigSectionComment
Adds a comment to a section (shows up in
MP)
odometer
Shows the robot trip odometer
odometerReset
Resets the robot trip odometer
oneLineStatus
Gets the status of the robot on one line
outputList
Lists the named outputs [outL]
outputOff
Turns off a named digital output [outOff]
outputOn
Turns on a named digital output [outOn]
outputQuery
Queries the state of a named output [outQ]
patrol
patrols the given route
patrolOnce
Patrols the given route once, starts at optional index
patrolResume
Resumes the last patrol

pauseTaskCancel
Cancels the pause task (if it's active, causing it to
succeed)
pauseTaskFail
Fails the pause task (if it's active)
pauseTaskState
Gets the state of the pause task
payloadQueryLocal
Queries the payload for this robot [pql]
payloadRemove
Empties a payload slot for this robot [pr]
payloadSet
Sets the payload for this robot [ps]
payloadSlotCountLocal
Queries for number of payload slots [pscl]
play
Plays the given wave file already on the robot
popupSimple
Creates a simple popup
queryDockStatus
Gets the docking status
queryFaults
Shows the faults of all the robots or a single robot [qf]
queryMotors
Queries the state of the motors
queueCancel
Cancels an item by type and value [qc]
queueCancelLocal
Cancels an item by type and value [qcl]
queueCancelMultiSegment
Cancels a multi goal job segment by id
[qcms]
queueDropoff
Queues the robot to the dropoff goal [qd]
s queueModify
New beta command that Modifies a current job
segment, we think it works but be advised it has not yet been fully tested.
[qmod]
queueModifyLocal
Modifies a current job segment [qmodl]
queueMulti
Queues multiple goals for any appropriate robot to do
[qm]
queuePickup
Queues a pickup goal for any appropriate robot [qp]
queuePickupDropoff
Queues a pickup dropoff goal pair for any
appropriate robot to do [qpd]
queueQuery
Queries the queue by type and value [qq]
queueQueryLocal
Queries the queue by type and value [qql]
queueShow
Shows the Queue [qs]
queueShowCompleted
Shows the Queue Completed [qsc]
queueShowRobot
Shows the status of all the robots [qsr]
queueShowRobotLocal
Queries the status of the robot [qsrl]
quit
closes this connection to the server
rangeDeviceGetCumulative
Gets the cumulative readings of a range
device
rangeDeviceGetCurrent
Gets the current readings of a range device
rangeDeviceList
Gets the list of range devices
say
Says the given string
setPayload
sets the payload to the given string
shutdown
shuts down the robot
status
Gets the status of the robot
stay
Makes the robot wait for a minute, then resume patrol or
become idle 2 minutes so that it will resume queued jobs (with the right
parameters). See also go.
stop
Stops the robot
tripReset
Resets the trip values in the Data Store [tr]
undock
Undocks the robot (done automatically too)
updateInfo
updates a piece of information
waitTaskCancel
Cancels the wait task (if it's active, causing it to
succeed)
waitTaskFail
Fails the wait task (if it's active)
waitTaskState
Gets the state of the wait task
End of commands