Emulate a WHILL device
Connect a serial port to start acting as a WHILL device.
This tool parses each command from the host and holds / serves the internal data (Dataset0 / Dataset1).
⚠️ The values shown by this tool are for reference only and do not guarantee the behavior of an actual WHILL device.
Latest Parsed Command (from host)
— waiting for a command —
Command Table (parse coverage & counters)
| ID | Command | Count | Last parameters |
|---|
Internal vehicle status held by the emulator. Edits are reflected in streamed frames (AF 1F 01 …). Motor speed & angle are auto-simulated from SET_JOYSTICK / SET_VELOCITY (accel 1.7 m/s², wheel r 0.1325 m); with no input the speed decelerates to 0 at the same rate. Battery current tracks speed (0/1/3/6 km/h → 0/520/720/1220 mA, piecewise-linear). Status is sent, and SET_SPEED_PROFILE / SET_JOYSTICK / SET_VELOCITY are accepted, only while power is ON.
Internal speed profiles (6 modes). SET_SPEED_PROFILE from the host updates these; served as AF 0C 00 …
| Mode | F_M1 | F_A1 | F_D1 | R_M1 | R_A1 | R_D1 | T_M1 | T_A1 | T_D1 |
|---|
Firmware / API Version (served on GET_CAPABILITY & RESERVED_7)
.
(must be 8x.xx to be accepted by the Tester)
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✅ Supported Commands (capability cmd map)
📊 Available Data (capability data map / Dataset1)