Mammo — Go CLI for Mammotion Lawnmowers

Mammo is a Go module and command-line app for controlling and monitoring Mammotion robot mowers (Luba, Luba 2 & Yuka) over the MQTT cloud (Aliyun IoT).

It started as a port of the PyMammotion Python project and has grown a high-resolution terminal map and live driving UI. Still a work in progress.

Features

• pilot — live map + driving in one full-screen TUI. Renders the mower's map (mowing areas, no-go zones, channels, dock) in braille sub-character resolution — 8× the detail of plain ASCII — in colour, with the mower's position, heading and travel trail drawn live on top. Drive it with the keyboard, watch the planned coverage route, pause, or send it home.
• High-fidelity map rendering with uniform metric scaling, zoom and pan, and an off-screen pointer so the mower is never lost off the edge of the view.
• Map download to a portable JSON file, and offline rendering of saved maps.
• One-shot control commands for return-to-dock, cancel, leave-pile and fixed-duration moves, usable from scripts.
• RTK fix quality, battery and charging state shown live.

Install / Build

go build -o mammo

All commands authenticate with your Mammotion account via global flags:

-u, --username   Mammotion account email
-p, --password   Mammotion account password

The first device on the account is used.

Pilot mode

./mammo pilot -u you@example.com -p yourpassword

A full-screen map of your lawn with the mower live on it. The header shows mode, battery (⚡ when charging), RTK fix quality, position, heading, speed and zoom.

Controls

Key	Action
w a s d / arrows	drive forward / left / back / right
space	emergency stop
p	pause / resume the current task
r	return to charger
t	toggle the planned coverage path (cyan)
[ ]	decrease / increase drive speed
+ -	zoom out / in
h j k l	pan the view
0	reset zoom and pan to fit
q	quit (always sends a stop first)

The map layers: green = mowing-area boundaries, red = obstacles / no-go zones, gold = channels between zones, cyan = the planned coverage (zigzag) route for the active task, blue = the mower's actual trail, ⌂ = dock, and an arrow for the mower showing its heading.

Pilot flags

--map <file.json>       render a saved map instead of fetching from the mower
--save-map <file.json>  save the fetched map while running
--view-only             observe only; disable all driving/control commands
--min-battery <pct>     disable driving below this battery level (default 15)

Driving is blocked below --min-battery so a low battery can't be run flat away from the dock. Pause and return-to-charger stay available at any battery level.

Maps

Download the mower's map to a JSON file (areas, obstacles, channels, dock):

./mammo map-download -u you@example.com -p yourpassword -o mylawn.json

Render a saved map offline, at full resolution, sized to your terminal:

./mammo map-show mylawn.json

Uploading a map back to the mower is not supported — the known Mammotion protocol has no app→device write for map geometry (maps are created on-device by boundary recording). map-upload validates a file and explains this rather than sending anything that could corrupt the stored map.

Other commands

Command	Description
login	Test the cloud connection and authentication
battery	Print the battery level
position --duration <s>	Print live position updates for N seconds
move --linear --angular --duration	Drive for a fixed time, then auto-stop
recharge	Send the mower back to the dock
cancel	Cancel the current sub-task
leave-pile	One-touch leave-pile (if stuck near the dock)

sustask and task-ctrl are experimental raw-protocol probes.

Notes on coordinates

Map geometry and live position share one coordinate frame. Live position (RealPos) is reported in 0.1 mm units (divide by 10000 for metres); heading (real_toward) is in 0.0001° units and is already a compass bearing (0 = north, clockwise). Under DGPS (no RTK fix) heading is noisy; it settles with RTK Fixed/Float.

References

Aliyun Living Link APIs.