Advanced Motion Control Interface

Developers control the robot by sending commands directly to the motion host via UDP protocol. However, sending packets does not alter the original control logic.

The Jueying Lite3 can simultaneously receive packets from multiple controllers. “0x2*******” commands can be sent by multiple clients, but downstream data from the wide-angle camera can only be sent to the client that initially connected to the robot.

Heartbeat Interface

The heartbeat command verifies connection stability and should be sent at a frequency no lower than 2Hz.

Code	Value	Type
0x21040001	-	0

Note: The dash - indicates the command value is not applicable, i.e., the command value does not affect this command.

Action Command Interface

When the robot is in standing or sitting state, action commands can be sent to execute corresponding actions.

Command	Code	Value	Type	Execution Condition
Twist	0x21010204	-	0	Torque control state (standing)
Turn over	0x21010205	-	0	Sitting state
Moonwalk	0x2101030C	-	0	Torque control state (standing)
Backflip	0x21010502	-	0	Sitting state
Hello	0x21010507	-	0	Sitting state
Long Jump	0x2101050B	-	0	Sitting state
Twist Jump	0x2101020D	-	0	Torque control state (standing)

Control Mode Switching Interface

The control mode determines the source of velocity commands the robot responds to. In navigation mode, the robot responds to velocity commands from the perception host; in manual mode, the robot responds to velocity commands from the remote controller.

Command	Code	Value	Type	Function
Navigation mode	0x21010C03	-	0	Switch from manual to navigation mode
Manual mode	0x21010C02	-	0	Switch from navigation to manual mode

Data Saving Interface

When a fault occurs, the data saving function enables the robot to save the last 100 seconds of data, after which the robot will perform a soft emergency stop and exit the motion program.

Code	Value	Type
0x21010C01	-	0

Continuous Motion Interface

When continuous stepping mode is enabled, the robot will continue stepping even without receiving joystick commands.

Code	Value	Type
0x21010C06	-1=Enable, 2=Disable	0

Voice Interface and Speaker Interface

The App recognizes user voice and sends voice commands with corresponding command values to control robot movement.

Code	Value	Type
0x21010C0A	See table below	0

Voice command values and their functions:

Value	Meaning
1	Stand up
2	Sit down
3	Move forward
4	Move backward
5	Strafe left
6	Strafe right
7	Stop
8	Look down
9	Look up
11	Look left
12	Look right
13	Turn left 90°
14	Turn right 90°
15	Turn around 180°
22	Greet (perform Hello action)

Speaker command:

Command Name	Code	Value	Type
Speaker command	0x2101030D	0=Speaker off; 1=Speaker on; 2=Query speaker status	0

If the speaker command value is set to 2 (query speaker status), the motion host will report the speaker status:

Code	Type	Content
0x11050f08	0	0=Speaker off; 1=Speaker on

Perception Setting Interface

Developers can send the following commands to the motion host to enable or disable related features.

Command Name	Code	Value	Type
Disable all AI options	0x21012109	0x00	0
Enable auto-stop	0x21012109	0x20	0
Enable follow	0x21012109	0xC0	0

Additionally, developers can send the following command to the perception host, with target IP and port 192.168.1.103:43899.

Command Name	Code	Value	Type
Enable obstacle avoidance	0x21012109	0x40	0

If the motion host IP is 192.168.1.120, the robot’s wide-angle camera video stream URL is: rtsp://192.168.1.120:8554/test. If the motion host IP is 192.168.2.1, the video stream URL is: rtsp://192.168.2.1:8554/test.