Skip to content

entities.md

Latest commit

 

History

History
302 lines (237 loc) · 16.8 KB

entities.md

File metadata and controls

302 lines (237 loc) · 16.8 KB
layout default
title Entities
nav_order 4
description Every entity created by the Yarbo integration

Entities

{: .no_toc }

Disclaimer: This is an independent community project. NOT affiliated with Yarbo or its manufacturer. {: .warning }

The integration creates entities across multiple platforms. Most operational entities are enabled by default; diagnostic entities are disabled by default and can be enabled individually.

Entities marked 🔵 are enabled by default. Entities marked ⚪ are disabled by default.

  1. TOC {:toc}

Sensors

Core Status

Entity Key Device Class Unit Default Description
Battery battery battery % 🔵 Battery percentage (0–100)
Activity activity enum — 🔵 Current robot activity: charging, idle, working, paused, returning, error
Head Type head_type enum — 🔵 Installed head: snow_blower, lawn_mower, lawn_mower_pro, leaf_blower, smart_cover, trimmer, none
Plan Remaining Time plan_remaining_time duration s 🔵 Estimated seconds remaining in the active work plan
Connection connection — — 🔵 Active MQTT endpoint label and IP (diagnostic)

Activity states:

State Meaning
charging Robot is on the dock and charging
idle Robot is awake but not working and not charging
working A work plan is actively running
paused A work plan is paused
returning Robot is returning to the dock
error An error code is active

GPS / RTK

Entity Key Device Class Unit Default Description
Heading heading — ° ⚪ Compass heading in degrees (0–360)
Heading DOP heading_dop — — ⚪ Dilution of precision for heading (diagnostic)
Heading Status heading_status — — ⚪ RTK heading solution status (diagnostic)
RTK Status rtk_status enum — ⚪ GPS fix quality: invalid, gps, dgps, rtk_float, rtk_fixed, unknown
Satellite Count satellite_count — — ⚪ Number of GNSS satellites in view (diagnostic)
GPS Fix Quality gps_fix_quality — — ⚪ Raw GGA fix quality indicator (diagnostic)
GPS HDOP gps_hdop — — ⚪ Horizontal dilution of precision (diagnostic)
GPS Altitude gps_altitude distance m ⚪ Altitude above sea level in metres (diagnostic)
RTCM Age rtcm_age — s ⚪ Age of RTCM correction data in seconds (diagnostic)
RTCM Source Type rtcm_source_type — — ⚪ Current RTCM correction source type (diagnostic)
Antenna Distance antenna_distance distance m ⚪ Baseline distance between GNSS antennas (diagnostic)

Odometry

Entity Key Device Class Unit Default Description
Odometry X odom_x — m ⚪ X position in local odometry frame (diagnostic)
Odometry Y odom_y — m ⚪ Y position in local odometry frame (diagnostic)
Odometry Phi odom_phi — rad ⚪ Heading in local odometry frame (diagnostic)
Odometry Confidence odom_confidence — — ⚪ Fusion confidence score 0.0–1.0 (diagnostic)
Odometer odometer distance m ⚪ Total distance traveled, always-increasing (diagnostic)
Speed speed speed m/s ⚪ Current travel speed (diagnostic)

Charging

Entity Key Device Class Unit Default Description
Charging Power charging_power power W ⚪ Wireless charging power (voltage × current)
Charge Voltage charge_voltage voltage V ⚪ Wireless charging voltage (diagnostic)
Charge Current charge_current current A ⚪ Wireless charging current (diagnostic)
Wireless Charge State wireless_charge_state — — ⚪ Wireless charging state code (diagnostic)
Wireless Charge Error wireless_charge_error — — ⚪ Wireless charging error code (0 = no error) (diagnostic)

Battery Health

Entity Key Device Class Unit Default Description
Battery Cell Temp Min battery_cell_temp_min temperature °C ⚪ Minimum cell temperature (diagnostic)
Battery Cell Temp Max battery_cell_temp_max temperature °C ⚪ Maximum cell temperature (diagnostic)
Battery Cell Temp Avg battery_cell_temp_avg temperature °C ⚪ Average cell temperature (diagnostic)
Battery Temp Error battery_temp_error — — ⚪ Temperature error flag from BMS (diagnostic)
Motor Temperature motor_temp temperature °C ⚪ Motor temperature (diagnostic)
Body Current body_current current A ⚪ Main body drive current (diagnostic)
Head Current head_current current A ⚪ Head attachment current draw (diagnostic)

Environment

Entity Key Unit Default Description
Rain Sensor rain_sensor — ⚪ Raw rain sensor reading (0 = dry, higher = wet)
Ultrasonic Left Front ultrasonic_left_front mm 🔵 Left-front obstacle distance
Ultrasonic Middle ultrasonic_middle mm 🔵 Front obstacle distance
Ultrasonic Right Front ultrasonic_right_front mm 🔵 Right-front obstacle distance

Head-Specific Sensors

Entity Key Unit Default Head Description
Chute Angle chute_angle ° ⚪ Snow Blower Current snow chute angle
Chute Steering Info chute_steering_info — ⚪ Snow Blower Chute steering engine position (diagnostic)

System / Network

Entity Key Default Description
WiFi Network wifi_network ⚪ Currently connected WiFi SSID (diagnostic)
WiFi List wifi_list ⚪ Number of visible WiFi networks; attributes contain full list (config)
Schedule Count schedule_count ⚪ Number of saved schedules; attributes contain schedule data (diagnostic)
Map Backup Count map_backup_count ⚪ Number of stored map backups; attributes list them (config)
Clean Area Count clean_area_count ⚪ Number of defined clean areas (diagnostic)
Recharge Point recharge_point ⚪ Charging dock location status (config)
MQTT Age mqtt_age ⚪ Seconds since last MQTT telemetry message (diagnostic)
Error Code error_code ⚪ Raw error code (0 = no error) (diagnostic)
Machine Controller machine_controller ⚪ Controller state from StateMSG (diagnostic)
Base Station Status base_station_status ⚪ Docking station status code (diagnostic)
Head Serial head_serial ⚪ Serial number of the installed head attachment (diagnostic)
Product Code product_code ⚪ Robot product code string (diagnostic)
Hub Info hub_info ⚪ Hub board firmware information (diagnostic)

Network Routing (Diagnostic)

Entity Key Default Description
Route Priority hg0 route_priority_hg0 ⚪ HaLow interface routing priority (lower = preferred)
Route Priority wlan0 route_priority_wlan0 ⚪ Wi-Fi interface routing priority
Route Priority wwan0 route_priority_wwan0 ⚪ Cellular interface routing priority
Nav Sensor Front Right nav_sensor_front_right ⚪ Electric navigation front-right sensor raw value
Nav Sensor Rear Right nav_sensor_rear_right ⚪ Electric navigation rear-right sensor raw value
Head Gyro Pitch head_gyro_pitch ⚪ Head attachment pitch angle in degrees
Head Gyro Roll head_gyro_roll ⚪ Head attachment roll angle in degrees

Binary Sensors

Entity Key Device Class Default Description
Charging charging battery_charging 🔵 on when robot is charging (charging_status ∈ {1, 2, 3})
Problem problem problem 🔵 on when error_code ≠ 0
Planning Active planning_active — ⚪ on when a work plan is actively running
Planning Paused planning_paused — ⚪ on when a work plan is paused
Returning to Charge returning_to_charge — ⚪ on when robot is returning to dock
Going to Start going_to_start — ⚪ on when robot is navigating to the plan start point
Follow Mode follow_mode — ⚪ on when robot follow mode is active
Manual Controller manual_controller — ⚪ on when a manual controller (gamepad) is active
Rain Detected rain_detected moisture ⚪ on when the rain sensor detects moisture
No-Charge Period no_charge_period — ⚪ on when a no-charge schedule window is currently active; attributes include start/end times

Buttons

Entity Key Category Default Description
Beep beep — 🔵 Sound the buzzer once
Return to Dock return_to_dock — 🔵 Send robot to charging dock
Pause pause — 🔵 Pause the active work plan
Resume resume — 🔵 Resume a paused work plan
Stop stop — 🔵 Graceful stop (finish current move, then halt)
Emergency Stop emergency_stop — ⚪ Immediate hardware emergency stop
Emergency Unlock emergency_unlock — 🔵 Release emergency stop lock
Play Sound play_sound — 🔵 Play default robot sound
Manual Stop manual_stop — 🔵 Stop manual drive (zero velocity)
Shutdown shutdown Config 🔵 Power off robot (physical restart required to wake)
Restart restart Config 🔵 Restart robot software containers (~30 s offline)
Save Charging Point save_charging_point Config ⚪ Save current position as the charging dock location
Start Hotspot start_hotspot Config ⚪ Start robot Wi-Fi hotspot
Save Map Backup save_map_backup Config ⚪ Create a map backup on the robot

Shutdown powers off the robot hardware. A physical button press is required to restart. Restart restarts the robot's software. The robot goes offline for ~30 seconds then reconnects automatically. {: .note }

Switches

Entity Key Category Default Head Description
Buzzer buzzer — ⚪ All Activate/deactivate the built-in buzzer (assumed state)
Follow Mode follow_mode — 🔵 All Toggle follow-me mode
Heating Film heating_film Config 🔵 All Toggle heating film (prevents ice buildup in winter)
Person Detection person_detect Config ⚪ All Toggle person/obstacle detection via camera
Ignore Obstacles ignore_obstacles Config ⚪ All Bypass obstacle detection during active plan
Camera camera Config ⚪ All Toggle camera module on/off
Laser laser Config ⚪ All Toggle laser sensor
USB usb Config ⚪ All Toggle USB power output port
Auto Update auto_update Config ⚪ All Toggle automatic firmware update
Camera OTA camera_ota Config ⚪ All Allow camera module OTA firmware updates
Draw Mode draw_mode Config ⚪ All Toggle boundary drawing mode
Module Lock module_lock Config ⚪ All Toggle module attachment lock
Wire Charging Lock wire_charging_lock Config ⚪ All Toggle wired charging lock
Roof Lights roof_lights Config ⚪ All Enable/disable roof LED lights
Sound Enable sound_enable Config ⚪ All Enable/disable robot sounds globally
Motor Protect motor_protect Config ⚪ All Toggle motor thermal protection
Smart Blowing smart_blowing Config ⚪ Leaf Blower only Intelligent auto-blowing mode
Edge Blowing edge_blowing Config ⚪ Leaf Blower only Edge-focused blowing mode
Trimmer trimmer — 🔵 Trimmer only Toggle trimmer blade engagement
Mower Head Sensor mower_head_sensor Config ⚪ Lawn Mower only Toggle mower head collision sensor

All switches use assumed state — the integration reflects what was last sent, not actual hardware state. {: .note }

Number Entities

Entity Key Range Step Category Head Description
Chute Velocity chute_velocity −2000 to 2000 1 — Snow Blower Chute rotation speed (negative = left, positive = right); disabled by default
Chute Steering Work chute_steering_work −90° to 90° 5° Config Snow Blower Chute steering angle during active work
Blade Height blade_height 25–75 mm 5 Config Lawn Mower Cutting height
Blade Speed blade_speed 1000–3500 RPM 100 Config Lawn Mower Blade rotation speed
Roller Speed roller_speed 0–3500 RPM 100 Config Lawn Mower Roller/drum speed; disabled by default
Blower Speed blower_speed 1–10 1 Config Leaf Blower Blower motor speed level; disabled by default
Volume volume 0–100 1 Config All Speaker volume
Plan Start Percent plan_start_percent 0–100% 1 Config All Percentage into the plan at which to start; value is persisted across restarts
Battery Charge Min battery_charge_min 0–100% 5 Config All Minimum charge level before leaving dock; disabled by default
Battery Charge Max battery_charge_max 0–100% 5 Config All Maximum charge level (battery limit); disabled by default

Select Entities

Entity Key Options Default Head Description
Work Plan work_plan (saved plan names loaded from robot) 🔵 All Select and start a saved work plan by name
Turn Type turn_type u_turn, three_point, zero_radius 🔵 All Mowing pattern turn type
Snow Push Direction snow_push_direction left, right, center 🔵 Snow Blower only Snow throw direction

Light Entities

Entity Key Mode Default Description
Lights (all channels) lights Brightness (0–255) 🔵 Sets all 7 LED channels simultaneously
Head Light head_light On/Off 🔵 Front/head LED; only available when a head is attached
LED Head light_led_head Brightness (0–255) ⚪ Head LED channel
LED Left White light_led_left_w Brightness (0–255) ⚪ Left fill light
LED Right White light_led_right_w Brightness (0–255) ⚪ Right fill light
LED Body Left light_led_body_left Brightness (0–255) ⚪ Left body accent light
LED Body Right light_led_body_right Brightness (0–255) ⚪ Right body accent light
LED Tail Left light_led_tail_left Brightness (0–255) ⚪ Left tail light
LED Tail Right light_led_tail_right Brightness (0–255) ⚪ Right tail light

Light entities use assumed state — there is no readback from the robot hardware. {: .note }

Lawn Mower Entity

Entity Key Default Description
Mower mower 🔵 Native HA lawn mower card entity (only available when Lawn Mower or Lawn Mower Pro head is installed)

Activity mapping:

HA Activity Yarbo State
mowing State 1, 7, or 8 (active plan)
paused State 5
docked Charging, state 2, or default
error Any non-zero error code

Supports: Start mowing, Pause, Dock (return to charge).

Device Tracker

Entity Key Source Type Default Description
Location location gps 🔵 GPS coordinates from RTK/GNSS telemetry. Reports "home" when charging, "not_home" otherwise.

Entity Naming

All entity IDs follow the pattern: <platform>.<device_name>_<entity_key>

Example: sensor.yarbo_allgott_battery, button.yarbo_allgott_return_to_dock

The device name is derived from the friendly name set during setup.

Related Pages