PSYarbo

PSYarbo is a PowerShell module for local, cloud-free control of Yarbo robots via MQTT and optional cloud REST API.

Protocol documentation: markus-lassfolk/yarbo-reversing

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Compatibility

Robot / Head	Local MQTT	Cloud REST	Notes
Yarbo G1 + Snow Blower head	✅ Full	✅ Full	Primary development target
Yarbo G1 + Mower head	⚠️ Partial	✅ Full	Plan start/stop work; snow-specific commands (chute, roller) not applicable
Other Yarbo G1 heads	❓ Untested	✅ Expected	Should work if robot publishes on snowbot/+/device/ topics

Note: The MQTT topic prefix is snowbot/ for all Yarbo G1 robots regardless of head type. The SnowBlower tag in the module reflects the primary test platform. Mower-specific operations (cmd_roller, cmd_chute_rotate) are no-ops on mower heads and may return an error from the robot.

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Requirements

• PowerShell 7.4+ (Windows, macOS, or Linux)
• Your Yarbo robot connected to the same LAN as your computer
• MQTTnet.dll (downloaded automatically by build/Install-Dependencies.ps1)

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Installation

Install-Module -Name PSYarbo -Repository PSGallery -Scope CurrentUser

Or manually from this repository:

git clone https://github.com/markus-lassfolk/PSYarbo.git
cd PSYarbo
./build/Install-Dependencies.ps1   # downloads MQTTnet.dll
Import-Module ./src/PSYarbo/PSYarbo.psd1

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Quick Start

# Auto-discover robots on the local network
$robot = Find-Yarbo | Select-Object -First 1
Write-Host "Found: $($robot.SerialNumber) at $($robot.Broker)"

# Connect (uses the YarboRobot object from Find-Yarbo)
$conn = $robot | Connect-Yarbo

# — OR — connect directly
$conn = Connect-Yarbo -Broker 192.168.1.24 -SerialNumber 24400102L8HO5227

# Check status
Get-YarboStatus

# Check battery
Get-YarboBattery

# Light control
Set-YarboLight AllOn      # all LEDs on
Set-YarboLight AllOff     # all LEDs off

# Stream real-time telemetry for 60 seconds
Watch-YarboTelemetry -Duration 00:01:00

# Disconnect cleanly
Disconnect-Yarbo

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Cmdlet Reference

Connection

Cmdlet	Description
Find-Yarbo	Auto-discover Yarbo robots via MQTT heart_beat. Returns YarboRobot[].
Connect-Yarbo	Connect to a robot's MQTT broker. Returns YarboConnection.
Disconnect-Yarbo	Disconnect and dispose resources.
Test-YarboConnection	Test if a connection is alive.

Status

Cmdlet	Description
Get-YarboStatus	Get full robot status as YarboRobot.
Get-YarboRobot	Same as Get-YarboStatus (alias-style).
Get-YarboBattery	Battery capacity and charging status.
Get-YarboFirmware	Firmware version info.

Control

Cmdlet	Description
Set-YarboLight	Control LED channels (presets: AllOn, AllOff, HeadOnly, BodyOnly, TailOnly).
Start-YarboBuzzer	Trigger the buzzer.
Stop-YarboBuzzer	Stop the buzzer.
Start-YarboPlan	Start a mowing/snow-clearing plan by ID.
Stop-YarboPlan	Stop an active plan.
Suspend-YarboPlan	Pause an active plan.
Resume-YarboPlan	Resume a paused plan.
Resume-Yarbo	Resume the robot from sleep/pause.
Suspend-Yarbo	Send the robot to sleep.
Send-YarboCommand	Send an arbitrary raw command (advanced).

Manual Drive (Snow Blower head only)

Cmdlet	Description
Start-YarboManualDrive	Enter manual drive mode.
Set-YarboVelocity	Set linear and angular velocity.
Set-YarboRoller	Set roller (auger) speed.
Set-YarboChute	Set chute rotation speed/velocity.
Stop-YarboManualDrive	Exit manual drive mode.

Plans & Maps

Cmdlet	Description
Get-YarboPlan	List saved plans.
New-YarboPlan	Create a new plan.
Remove-YarboPlan	Delete a plan.
Get-YarboMap	Get map data.
Get-YarboSchedule	Get scheduled plans.
Set-YarboSchedule	Update a schedule.

Telemetry

Cmdlet	Description
Get-YarboTelemetry	Get a single telemetry snapshot.
Watch-YarboTelemetry	Stream real-time telemetry (Ctrl+C to stop).
Export-YarboTelemetry	Export telemetry to CSV/JSON/JSONL.

Cloud

Cmdlet	Description
Connect-YarboCloud	Authenticate with the Yarbo cloud.
Get-YarboDevice	List robots bound to your account.
Get-YarboVideo	Get video token/URL.
Get-YarboPlanHistory	Get plan execution history from cloud.

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Contributing

1. Fork the repo
2. Create a feature branch
3. Add Pester tests for new cmdlets
4. Invoke-Pester — all tests must pass
5. Open a PR

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License

MIT © Markus Lassfolk