Get RSSI with HM-10 BLE module

Hello, I want to make a robot that follows you thanks to the strenght of a bluetooth signal. For this, I will use 4 bluetooth modules, and by comparing the strenght of the signal, I can know where is the user compared to the robot. I just order some HM-10 compatible BLE modules (with the cc2541 chip) and I wanted to know how i can get the RSSI value of the bluetooth signal. I think that I can get it with the AT commands but how can I get it with the code ? and put it in a variable ?
thank you!

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