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  v0.2.0-rc.3 Pre-release

  Cody Bryant released this 2026-08-09 23:23:19 -07:00 | 170 commits to main since this release

  Most of this release came from a field install by
  @CryingPecan, who ran a Litter-Robot 4 with a
  LitterHopper on ESP 1.4.4 for two weeks of MQTT capture. Protocol detail for all
  of the below lives in docs/devices/litter-robot-4/.

  Added

  • The clean cycle is back, and reset with it. Both work by synthesising a
    panel button press — the code the robot already emits when you press it —
    proven on ESP 1.1.75 and independently confirmed on 1.4.4. This reverses the
    0.1.2 removal, which pulled a clean-cycle button built on a byte that never was
    the cycle.
  • Pet weight actually works, and reports the whole cat. It is carried only in
    the activity stream, which was previously used as a poll trigger and thrown
    away — and the raw-to-pounds divisor was inherited, never checked. A weighed
    comparison showed it reporting half: a cat measuring ~8.1 lb came back as 4.08.
  • New entities: last cat visit, last visit duration, waste drawer last moved,
    and panel brightness for bright and dark rooms.
  • Empty cycle and Power buttons, both disabled by default and named
    (danger): an empty cycle dumps the whole globe into the drawer, and Power
    toggles the robot off the network. The CLI gains empty-cycle and power,
    which prompt before sending.
  • LitterHopper support: connected, fill gauge, and an out-of-litter alert the
    firmware itself never raises. The four hopper entities turn themselves on the
    first time a hopper reports; one you disable by hand stays off.
  • Litter percentage calibration. One button press with the globe filled to
    the line anchors the percentage to your robot; a second with it empty upgrades
    to a true two-point scale.
  • Activity-derived entities survive a restart instead of reading unknown
    until the next cat visit or dispense.

  Fixed

  • The filter-change wizard is decoded — its status, both cycle phases, and
    the fact that litter readings during it are meaningless. It cannot be started
    remotely: the panel chord is a long press, and the robot performs short presses
    over MQTT while declining long ones.
  • Every 0x0B annunciator value is named (bonnet, cat, cycle, ready, night
    light, reset), which closes the "random housekeeping chatter" question.
  • robotStatus 10 is the clean cycle, on every firmware. The old map called
    it a cat pause; a narrated live cycle disproved that. Also adds 5, 6/7,
    25, the power-up states 1/2/3, the boot cycle 13, and the filter
    wizard 14. The last two matter: both move or invert the globe, and while
    unmapped their ToF readings were published as real litter levels.
  • The empty-litter calibration button is available without hunting for it. It
    shipped disabled, including for anyone who already had it registered.
  • The weekday sleep schedule now arms every day. That setting is a per-day
    bitmask, not a switch, and turning it on wrote the value for Sunday alone — so
    it appeared to work if you tested on a Sunday and did nothing all week.
  • The cycle phase ladder now runs 2 → 3 → 4 → 5 → 1, so robots no longer
    publish unknown_4 mid-cycle.
  • Litter readings are suppressed while the globe is not level — mid-cycle the
    sensors read the globe, not the litter, and it was published as a real level.
  • Broker failures are reported, not raised as a traceback.
  • The CLI works against a CA generated by this project's own documentation,
    which Python 3.13+ rejected under strict X.509 verification.
  • The panel sleep schedule can now actually be set. The sleep and wake time
    entities wrote a register the firmware only computes, so they never did
    anything; they now write the real per-weekday schedule.
  • Panel sleep mode says what is actually wrong instead of timing out. The
    robot derives it from the weekday sleep schedule, which is the switch to use.
  • The waste-drawer sensor no longer guesses which way the drawer went.
    Breaking: binary_sensor.<robot>_waste_drawer_removed is replaced by
    sensor.<robot>_waste_drawer_last_moved. Nine different codes turned up across
    removals and insertions alike, and a direct read answers the same value either
    way, so the robot reports that the drawer moved and nothing more.
  • The hopper stops dropping to unknown. A link code we cannot name is no
    longer treated as a disconnect — one such code repeats on a healthy, dispensing
    hopper. Only a proven disconnect changes the state.
  • A multi-register write no longer loses one of its parts. Two commands sent
    back to back were seen landing as one; they are now paced and each is verified.
  • Pet weight can no longer report a cat 100× too heavy. It fell back to a
    state-document field in unknown units that no captured robot actually sends.
  • Panel brightness is verified rather than assumed. The library reported every
    write as successful without checking; it now reads the value back like the rest.
  • pic_firmware, previously always null, composed from the local mb* fields.
  • Entities a previous version created but this one no longer produces are removed
    from the registry instead of lingering forever as unavailable.

  Changed

  • The clean cycle, reset and empty presses no longer need a motor opt-in.
    Breaking (library): Hazard.MOTOR, MotorCommandError and the
    allow_motor argument are gone. Writing the panel button register reproduces
    the code the panel emits, so a written press is the same event as a physical
    one and the robot's own interlocks apply either way. Power still requires
    allow_dangerous.
  • Clean cycle wait time is now a number (3–30 minutes), not a select.
    Breaking: automations using select.<robot>_clean_cycle_wait_time must
    move to number.<robot>_clean_cycle_wait_time.
  • Panel brightness High/Low name the ambient light level, not the brightness
    rank. The stock 40/50 is deliberately brighter at night.
  • isPanelSleepMode and the panel sleep/wake times are documented as read-only:
    the firmware computes all three from the weekday schedule registers.
  • The register map now says what PROVEN has to mean, demotes the rows that never
    earned it, and documents the readable file as 0x00-0x7F with 123 of those 128
    addresses mapped. unitPowerType is pinned (0 = mains, 1 = battery) and
    isUSBPowerOn turns out to mean mains present, not USB. 0x02A10000 returns
    Wi-Fi RSSI only, not the schedule.
  • Releases are never published before the library version they pin exists on
    PyPI, and CI now exercises the Python 3.11 floor it advertises.

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