The command UObject is not a real device. It is a software interface used to send direct commands to an iRobot Create.

This object offers to change the robot mode attribute. While Full mode is used most of the time, you may need to switch to Safe mode or any other defined mode in iRobot Create Open Interface Specification

command can also be used to handle builtin demos with command.launchDemo(id) (starts demo with given id) and command.stopDemo() (stop current demo, same as starting demo with id -1).

This object also has methods to send and receive data directly to the iRobot Create : command.send(byte_list) and command.request(byte_list, answer_size)

For example :

command.send([136, 1]);

will launch the Create demo 1.

And :

command.request([142,8], 1); 

will return information on the wall detector sensor.

These functions can be used to access any device or feature specified in iRobot Create Open Interface Specification, and thus features you may add to you robot.

Please note that

These commands are designed for expert users. If you are new with URBI or iRobot Create, standard devices and methods should provide access to everything needed.

Please refer to iRobot Create Open Interface Specification in order to get the command codes and expected return values.