vector-control

# 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:

```bash
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.

```bash
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.

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

### 3) Head / Lift
```bash
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.

```bash
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).

```bash
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).

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

### 7) Patrol (deterministic sweep)
```bash
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)
```bash
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.