---
title: "Get Doa"
method: GET
path: "/api/state/doa"
---

# Get Doa

`GET /api/state/doa`

Get the Direction of Arrival from the microphone array.

Returns the angle in radians (0=left, π/2=front, π=right) and speech detection status.
Returns None if the audio device is not available or no reading has
landed yet (the first one lands within ~100 ms of the first request).

## Response `200`

Successful Response

- DoaSnapshot — Sound Direction of Arrival reading (ReSpeaker mic array). ``angle`` is in radians: 0 = left, π/2 = front, π = right.
  - `angle` number, required
  - `speech_detected` boolean, required

## Changes

- **2026-08-06** `9843f2902e88` — 2 info
  - added `#/components/schemas/DoaSnapshot` to the response body `anyOf` list for the response status `200`
  - removed `#/components/schemas/DoAInfo` from the response body `anyOf` list for the response status `200`

[Change history](https://skmtc.dev/pollen-robotics/apis/reachy-mini-rest-api/changes/api/state/doa/get.md)

---

[API](https://skmtc.dev/pollen-robotics/apis/reachy-mini-rest-api.md) · [All operations](https://skmtc.dev/pollen-robotics/apis/reachy-mini-rest-api/llms.txt) · [OpenAPI document](https://skmtc-service-production.skmtc.workers.dev/v1/apis/pollen-robotics/reachy-mini-rest-api/revisions/7f5f936a81cc/schema)