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Valetudo by @Hypfer over MQTT

Integration's documentation

This platform can be used to control vacuums flashed with Valetudo created by @Hypfer connected to Home Assistant using MQTT.

Calibration

If you want to use just room cleaning you can calibrate the map using following config:

calibration_source:
  identity: true

In other cases you have to manually calibrate the map and provide calibration points.

Requirements

To use this card with a Valetudo vacuum you have to define topic internal variable in your preset:

type: custom:xiaomi-vacuum-map-card
map_source:
  camera: camera.valetudo
calibration_source:
  calibration_points:
    - vacuum:
        x: 25500
        y: 25500
      map:
        x: 466
        y: 1889
    - vacuum:
        x: 26500
        y: 26500
      map:
        x: 730
        y: 1625
    - vacuum:
        x: 25500
        y: 26500
      map:
        x: 466
        y: 1625
entity: vacuum.valetudo
vacuum_platform: Hypfer/Valetudo
internal_variables:
  topic: valetudo/rockrobo

Retrieving map image

To retrieve map image you have to use MQTT Vacuum Camera custom integration made by @sca075 (recommended; supports auto-calibration) or I can't believe it's not Valetudo (not recommended; manual calibration required).

Available templates

  • Room cleaning (vacuum_clean_segment)

    Uses IDs to clean specific rooms. Requires topic variable and predefined_selections to be provided.

    Getting coordinates

    Used service: mqtt.publish

    Example configuration 
    map_modes:
  - template: vacuum_clean_segment
    variables:
      topic: valetudo/robot
    predefined_selections:
      - id: "12"
        outline: [[ 21458, 32131 ], [ 24235, 32152 ], [ 24194, 27409 ], [ 23181, 27409 ]]
        label:
          text: "Bedroom"
          x: 22932
          y: 30339
          offset_y: 35
        icon:
          name: "mdi:bed"
          x: 22932
          y: 30339
      - id: "9"
        outline: [[ 21478, 27237 ], [ 23048, 27250 ], [ 23061, 25655 ], [ 21478, 25680 ]]
        label:
          text: "Bathroom"
          x: 22282
          y: 26496
          offset_y: 35
        icon:
          name: "mdi:shower"
          x: 22282
          y: 26496
    Example video
    ROOM.mp4

  • Zone cleaning (vacuum_clean_zone)

    Uses 4 points to clean rectangular zones.

    Used service: mqtt.publish

    Example configuration 
    map_modes:
  - template: vacuum_clean_zone
    Example video
    MANUAL_RECTANGLE.mp4

  • Predefined zone cleaning (vacuum_clean_zone_predefined)

    Uses 4 coordinates to clean rectangular zones that have been defined in the configuration. Requires predefined_selections to be provided.

    Getting coordinates

    Used service: mqtt.publish

    Example configuration 
    map_modes:
  - template: vacuum_clean_zone_predefined
    predefined_selections:
      - zones: [[ 21485, 28767, 24236, 32131 ], [ 23217, 27379, 24216, 28737 ]]
        label:
          text: "Bedroom"
          x: 22932
          y: 30339
          offset_y: 35
        icon:
          name: "mdi:bed"
          x: 22932
          y: 30339
      - zones: [[ 27782, 27563, 29678, 29369 ]]
        label:
          text: "Kitchen"
          x: 28760
          y: 28403
          offset_y: 35
        icon:
          name: "mdi:pot-mix"
          x: 28760
          y: 28403
    Example video
    PREDEFINED_RECTANGLE.mp4

  • Going to a specified point (vacuum_goto)

    Uses a pair of coordinates for vacuum to get to a user-specified point.

    Used service: mqtt.publish

    Example configuration 
    map_modes:
  - template: vacuum_goto
    Example video
    MANUAL_POINT.mp4

  • Going to a predefined point (vacuum_goto_predefined)

    Uses a pair of coordinates for vacuum to go to a point that has been defined in the configuration. Requires predefined_selections to be provided.

    Getting coordinates

    Used service: mqtt.publish

    Example configuration 
    map_modes:
  - template: vacuum_goto_predefined
    predefined_selections:
      - position: [ 28006, 28036 ]
        label:
          text: "Emptying"
          x: 28006
          y: 28036
          offset_y: 35
        icon:
          name: "mdi:broom"
          x: 28006
          y: 28036
      - position: [ 32143, 26284 ]
        label:
          text: "Sofa"
          x: 32143
          y: 26284
          offset_y: 35
        icon:
          name: "mdi:sofa"
          x: 32143
          y: 26284
    Example video
    PREDEFINED_POINT.mp4