Data & Controls

UI destination

Every field below ends up in one of four places: the persistent banner (visible on every screen, no interaction needed — see Interface & Screens), a popup over the Main screen (quick, one thumb, without letting go of the controller with both hands), a Menu page (reached by stepping away from active piloting — dense data, fine-tuning, or infrequent configuration), or nowhere in the UI (internal-only, or genuinely not decided yet).

The rule applied below, mechanically: a field goes on the banner if it must be seen continuously with zero interaction; it goes in a popup if it must be read or changed in a few seconds, one thumb, without letting go of the controller with both hands; otherwise it goes on a Menu page.

See Interface & Screens for the Menu page list and Balance tuning page for the first one designed in detail. The tables below add a UI destination column next to the existing wire-protocol status — the two are independent: a field can be fully wired on the protocol and still have no UI, or the reverse.

Data to display (Pi → Controller)

Fields already live on Frame 2 (port 6004) are marked accordingly — see Robot ↔ Controller Link for implementation status. Everything else is target scope, not yet on any wire protocol.

Global

Field	Description	Status	UI destination
robot_state	Overall robot state	Frame 2 (always unknown for now, state machine not implemented)	Persistent banner — not built yet, would only show the fixed unknown placeholder today
status_flags (legs.status_flags) — armed, estop	Robot-confirmed arm state / emergency stop	Frame 2	Persistent banner
status_flags (legs.status_flags) — balance (robot-confirmed)	Balance-loop-enabled, as reported by the robot	Frame 2	None — the banner's BALANCE chip shows the commanded state instead (see Interface & Screens); the confirmed bit has no display anywhere today
status_flags (legs.status_flags) — motors_active	Motors-driving state	Frame 2	Persistent banner
Link status	connected / lost	Not on wire protocol — controller-side, derived from link timeout	Full-screen overlay on Main (link_lost_overlay.py) — not the banner/popup/menu split, see Link loss
Raspberry Pi 5 temperature	SoC temperature	Not on wire protocol	Diagnostics page (named, not designed yet)
Pico 2 status	ok / fault	Not on wire protocol (today only status_flags exists)	Diagnostics page
XIAO status	ok / fault	Frame 2 (head.status)	Diagnostics page
Nano Every status	ok / fault	Not on wire protocol — torso section of Frame 2 not built	Diagnostics page

Legs & balance (legs)

Field	Description	Status	UI destination
sequence	Frame counter, detects loss/latency	Frame 2	None — internal use only, no UI field planned
torso_inclination.x	Pitch, deg	Frame 2	Balance tuning page
torso_inclination.y	Roll, deg	Frame 2 (always 0, not computed yet)	Balance tuning page, no chart — always 0, a flat-line chart would misrepresent a firmware placeholder as a real reading
torso_inclination.z	Heading, deg	Frame 2 (always 0, not computed yet)	Balance tuning page, no chart — same reason as .y
forward_speed	m/s, measured	Frame 2	Balance tuning page
rotation_speed	rad/s, measured	Frame 2	Balance tuning page
height	0-1, echo of the commanded setpoint	Frame 2	Balance tuning page — echo, colocated with the height control below
wheel_speed.left / .right	rad/s, measured	Frame 2	Balance tuning page

Head (head)

Field	Description	Status	UI destination
sequence_echo	Echo of the last sequence sent	Frame 2	None — internal use only
distance_cm	Distance sensor	Frame 2 (always 0, sensor not read yet)	Head popup — display only, no control. A Main-screen video overlay was discussed as an alternative and wasn't ruled out, but the popup is where it's actually implemented
imu.accel.x/y/z, imu.gyro.x/y/z	Raw IMU	Frame 2 (always 0, not read yet)	Diagnostics page
status	ok / error	Frame 2 (reflects the 200 ms watchdog failsafe)	Diagnostics page
Servo positions ×5 (antennas, neck 1-3)	0-1023 / clamped ranges	Not telemetry — echo of the last commanded position, no physical readback on the wire (see Neck Control Firmware)	Diagnostics page

Torso (torso)

Field	Description	Status	UI destination
battery	%, 0-100	Planned — Frame 2 torso.battery, section absent until the Nano Every exists on the code side	Persistent banner — already implemented
pack_voltage, bus_current	INA226 reading	Planned — matches the Nano→Pi telemetry frame (see bus-pi-nano)	Diagnostics page
power_switch_state	Pololu 2813 open/closed	Planned — idem	Diagnostics page
Fan speed	0-255	Echo of the last commanded value, no fan sensor	Torso popup — shows what the popup itself last commanded, not a telemetry echo (no torso telemetry exists yet)
LED ring brightness + per-LED RGB (7 LEDs)	0-255 each	Echo of the last commanded value	Torso popup, idem
Button illumination brightness	0-255	Echo of the last commanded value	Torso popup, idem
shutdown_cause	button press / low battery / Pi command	Planned — matches the Nano→Pi telemetry frame	Diagnostics page
touch.top, touch.back	bool	Planned — matches the Nano→Pi telemetry frame	Diagnostics page

Camera

Field	Description	Status	UI destination
Video feed	Live stream	Planned, port 6001, no code yet	Main screen background — already implemented
Resolution	—	Planned	None — fixed at 1200×800, the Legion Go's own screen resolution (see Interface & Screens), not drivable
Effective fps / stream latency	—	Planned	Persistent banner — affects piloting safety directly, unlike most diagnostic numbers

Audio

Field	Description	Status	UI destination
Robot audio (speaker monitor)	—	Planned, port 6002 — internal tap (audio-io → gateway-controller) not wired yet	None — passive playback, no visual widget needed
Volume level	—	Planned	Sound popup
Microphone level	—	Planned	Sound popup

Controller (device itself)

Field	Description	Status	UI destination
Battery level	—	Local to the Controller hardware, not carried by the Pi link	Persistent banner — already implemented
Charging state	—	Local	Persistent banner, same widget as battery level
Wi-Fi connection quality	—	Local	Diagnostics page

Controls to send (Controller → Pi)

Fields already live on Frame 1 (port 6000) are marked accordingly — see Robot ↔ Controller Link for implementation status.

Global

Field	Description	Status	UI destination
armed	Enables motor actuation, whole robot	Frame 1	Persistent banner + physical Y-hold gesture — already implemented
estop	Emergency stop, whole robot, OR'd between sources on the arbiter side	Frame 1	Persistent banner — already implemented

Legs (legs)

Field	Description	Status	UI destination
v	Forward/backward speed, -1..1	Frame 1	Main, physical stick — already implemented
yaw	Turn rate, -1..1	Frame 1	Main, physical stick — already implemented
height	Leg height, 0..1	Frame 1	Balance tuning page — no live drive control exists for this today
armed	Per-module actuation	Frame 1	None — covered by the global armed, no per-module control designed
balance	Enables the balance loop	Frame 1	Balance tuning page
estop	Per-module emergency stop	Frame 1	None — covered by the global estop, no per-module control designed
tilt_setpoint_deg	Target balance angle	Frame 1	Balance tuning page
kp, ki, kd	Tilt PID gains	Frame 1	Balance tuning page
kvel_p, kv_outer	Speed damping / position hold	Frame 1	Balance tuning page
kyaw_p, kyaw_i	Yaw damping / heading hold	Frame 1	Balance tuning page
motor_balance	Left/right motor power balance	Frame 1	Balance tuning page
yaw_trim	Constant rotation offset	Frame 1	Balance tuning page
roll_cmd	Torso roll	Reserved on the Pico UART frame, not exposed in Frame 1 yet, not used by firmware	None — reserved, not exploited by firmware

Head (head)

Field	Description	Status	UI destination
antenna_right, antenna_left	0-1023	Frame 1	Head popup — one slider each. Not on the physical stick; no joystick axis was ever mapped to either antenna (see Joystick mapping)
neck_1	490-680 (clamped in firmware)	Frame 1	Main, physical stick — already implemented
neck_2	420-570, pitch	Frame 1	Main, physical stick — already implemented
neck_3	297-673, rotation	Frame 1	Main, physical stick — already implemented
eye_mode	0=Off, 1=On, 2=Blink, 3=Expression	Frame 1	Head popup — renamed from the earlier "Eye mode" idea
vibrator	0-255	Frame 1	Head popup — a plain on/off toggle sending 0 or 1, not the field's full range (this session's requested behavior)

Torso (torso)

Field	Description	Status	UI destination
Fan speed	0-255	Planned — matches the Pi→Nano command frame (fan_speed)	Torso popup — implemented (widgets/torso_popup.py), moved here from a Menu page on the user's decision
LED ring brightness + per-LED RGB (7 LEDs)	0-255 each	Planned — matches the Pi→Nano command frame	Torso popup, idem
Button illumination brightness	0-255	Planned — matches the Pi→Nano command frame (button_led_brightness)	Torso popup, idem

Camera

Field	Description	Status	UI destination
Zoom	—	Planned	Main, inline slider — already implemented
fps	—	Planned	Main, inline slider — already implemented
Resolution	—	Planned	None — fixed at 1200×800, not drivable despite appearing in this table (see zig-pi/CONTROLLER-PROTOCOL.md, "vision")
Compression quality	—	Planned	Main, inline slider — already implemented (the "Quality" parameter)

Audio

Field	Description	Status	UI destination
Microphone / push-to-talk	—	Planned, port 6003	Sound popup
Volume	—	Planned	Sound popup
Trigger sound from local bank	—	Routed via arbiter → audio-io (internal channel audio.trigger, see Main Computer Software)	Sound popup
AI sound mode (autonomous voice)	—	Not defined yet — some setup still needed on the robot side	Sound popup — placeholder entry, not functional yet

Mode

Field	Description	Status	UI destination
Operating mode selection	—	Not defined yet	Mode popup — already implemented (Sitting/Standing/Moving), not yet wired to Frame 1
Pre-recorded action selection	choreography_id	Reserved on the Pico UART frame, not exposed in Frame 1 yet, not used by firmware	Mode popup
AI enable/disable	—	Not defined yet	Not decided
Sound enable/disable	—	Not defined yet	Not decided — could belong to the Mode popup or the Sound popup, not resolved