Skip to content

multi-head.md

Latest commit

 

History

History
196 lines (140 loc) · 6.11 KB

multi-head.md

File metadata and controls

196 lines (140 loc) · 6.11 KB
layout default
title Multi-Head Guide
nav_order 13
description Head types, entity availability, and head-specific features

Multi-Head Guide

{: .no_toc }

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

Yarbo robots accept interchangeable attachment heads. The integration tracks the installed head type from live telemetry and dynamically adjusts entity availability.

  1. TOC {:toc}

Head Types

Head Type Code Description
None / Base Only 0 No head installed
Snow Blower 1 Snow clearing with auger and chute
Leaf Blower 2 Leaf and debris clearing
Lawn Mower 3 Grass cutting with rotating blade
Smart Cover 4 Protective cover / transport mode
Lawn Mower Pro 5 Enhanced lawn mower with additional features
Trimmer 99 String trimmer for edge cutting

The current head type is shown in the Head Type sensor (sensor.<name>_head_type).

Entity Availability by Head

Entities marked with a specific head are only available when that head is installed. All other entities are available regardless of head type.

Always Available (All Heads)

  • All core status sensors (Battery, Activity, Connection)
  • All GPS/RTK sensors
  • All charging sensors
  • All system buttons (Return to Dock, Pause, Resume, Stop, Beep, Shutdown, Restart)
  • All universal switches (Follow Mode, Heating Film, etc.)
  • All light entities
  • Device tracker

Snow Blower Head (code: 1)

Entities unlocked:

Entity Type Description
Chute Velocity Number Chute rotation speed (−2000 to 2000)
Chute Steering Work Number Chute steering angle during work (±90°)
Snow Push Direction Select Left / Right / Center
Chute Angle Sensor Current chute angle (degrees)
Chute Steering Info Sensor Chute steering engine position (diagnostic)

Head-specific features:

  • Chute rotates continuously (velocity control) or to a fixed angle
  • Snow push direction controls where snow is thrown
  • The chute can be steered to a different position during active work

Leaf Blower Head (code: 2)

Entities unlocked:

Entity Type Description
Blower Speed Number Speed level 1–10
Smart Blowing Switch Intelligent auto-blowing mode
Edge Blowing Switch Edge-focused blowing mode
Roller Speed Number Roller RPM

Head-specific features:

  • Adjustable blower speed (1–10)
  • Smart blowing mode automatically adjusts intensity
  • Edge mode focuses on boundary areas

Lawn Mower Head (code: 3)

Entities unlocked:

Entity Type Description
Mower Lawn Mower Native HA lawn mower card
Blade Height Number Cutting height 25–75 mm
Blade Speed Number Blade RPM 1000–3500
Roller Speed Number Roller RPM 0–3500
Turn Type Select U-turn / Three-point / Zero-radius
Mower Head Sensor Switch Head collision sensor toggle

Head-specific features:

  • Full HA lawn mower card integration
  • Adjustable cutting height in 5 mm steps
  • Multiple turn types for different yard shapes
  • Turn Type select persists the chosen turning style

Smart Cover (code: 4)

No additional head-specific entities. The Smart Cover is used for transportation or storage.

Lawn Mower Pro (code: 5)

Same entities as Lawn Mower (code: 3) — the Pro model uses the same integration interface with enhanced firmware capabilities.

Trimmer Head (code: 99)

Entities unlocked:

Entity Type Description
Trimmer Switch Engage/disengage trimmer blade

Head-specific features:

  • String trimmer for edge cutting
  • Single on/off control
  • Speed is automatically managed by the robot

Switching Heads

When you physically swap the head attachment:

  1. The robot publishes the new head_type in the next DeviceMSG telemetry (within 1–2 seconds of power-up with the new head)
  2. The integration detects the change
  3. Head-specific entities for the old head become unavailable
  4. Head-specific entities for the new head become available

No integration reload or HA restart is required — the head switch is handled automatically.

Head Identification

The Head Serial sensor (sensor.<name>_head_serial) shows the serial number of the currently installed head. Each head has a unique serial number, which allows you to:

  • Identify which physical head is installed
  • Track head usage in history
  • Build automations that change behaviour based on head type
# Example: Send notification when head changes
automation:
  alias: "Yarbo: Notify when head type changes"
  trigger:
    - platform: state
      entity_id: sensor.yarbo_allgott_head_type
  action:
    - service: notify.mobile_app
      data:
        message: >
          Yarbo head changed to {{ states('sensor.yarbo_allgott_head_type') }}

Lawn Mower Card

When a Lawn Mower or Lawn Mower Pro head is installed, the Mower entity (lawn_mower.<name>_mower) integrates with HA's native lawn mower card.

Add the card to your dashboard:

type: lawn-mower
entity: lawn_mower.yarbo_allgott_mower

The card shows:

  • Current activity (mowing, paused, docked, error)
  • Controls: Start, Pause, Dock

FAQ

Q: Can I use the robot without any head? A: Yes — the robot body (base unit) operates normally. Navigation, GPS, charging, and most automations work regardless of head.

Q: Do I need to reload the integration after swapping heads? A: No. Head changes are detected automatically from the robot's telemetry.

Q: Why are mower entities still showing for my snow blower? A: After swapping heads, it may take up to 2 seconds for the new head type to arrive in telemetry. If entities remain available unexpectedly, try restarting the robot.

Related Pages