Roomba 500 series communication class. More...

#include "roomba_500.h"

Classes
struct	SensorPacketGroupAll
	Struct for packet group with everything (SENSPACK_GROUP_ALL). More...

Public Types
enum	ConnectionType { CONNTYPE_SERIAL, CONNTYPE_ROOTOOTH }
	Connection type. More...
enum	ConnectionFlags { FLAG_FIREFLY_FASTMODE = 1 }
	Connection flags. More...
enum	OpCode { OPCODE_START = 128, OPCODE_BAUD = 129, OPCODE_CONTROL = 130, OPCODE_SAFE = 131, OPCODE_FULL = 132, OPCODE_POWER = 133, OPCODE_SPOT = 134, OPCODE_CLEAN = 135, OPCODE_MAX = 136, OPCODE_DRIVE = 137, OPCODE_MOTORS = 138, OPCODE_LEDS = 139, OPCODE_SONG = 140, OPCODE_PLAY = 141, OPCODE_QUERY = 142, OPCODE_SEEK_DOCK = 143, OPCODE_PWM_MOTORS = 144, OPCODE_DRIVE_WHEELS = 145, OPCODE_DRIVE_PWM = 146, OPCODE_STREAM = 148, OPCODE_QUERY_LIST = 149, OPCODE_PAUSE_RESUME_STREAM = 150, OPCODE_SCHEDULE_LEDS = 162, OPCODE_DIGIT_LEDS_RAW = 163, OPCODE_DIGIT_LEDS_ASCII = 164, OPCODE_BUTTONS = 165, OPCODE_SCHEDULE = 167, OPCODE_SET_DAY_TIME = 168 }
	Roomba 500 Command op codes. More...
enum	SensorPacketID { SENSPACK_BUMPS_DROPS = 7, SENSPACK_WALL = 8, SENSPACK_CLIFF_LEFT = 9, SENSPACK_CLIFF_FRONT_LEFT = 10, SENSPACK_CLIFF_FRONT_RIGHT = 11, SENSPACK_CLIFF_RIGHT = 12, SENSPACK_VIRTUAL_WALL = 13, SENSPACK_WHEEL_OVERCURRENTS = 14, SENSPACK_DIRT_DETECT = 15, SENSPACK_IR_CHAR_OMNI = 17, SENSPACK_BUTTONS = 18, SENSPACK_DISTANCE = 19, SENSPACK_ANGLE = 20, SENSPACK_CHARGING_STATE = 21, SENSPACK_VOLTAGE = 22, SENSPACK_CURRENT = 23, SENSPACK_TEMPERATURE = 24, SENSPACK_BATTERY_CHARGE = 25, SENSPACK_BATTERY_CAPACITY = 26, SENSPACK_WALL_SIGNAL = 27, SENSPACK_CLIFF_LEFT_SIGNAL = 28, SENSPACK_CLIFF_FRONT_LEFT_SIGNAL = 29, SENSPACK_CLIFF_FRONT_RIGHT_SIGNAL = 30, SENSPACK_CLIFF_RIGHT_SIGNAL = 31, SENSPACK_CHARGE_SOURCES = 34, SENSPACK_OI_MODE = 35, SENSPACK_SONG_NUMBER = 36, SENSPACK_SONG_PLAYING = 37, SENSPACK_STREAM_PACKETS = 38, SENSPACK_REQ_VELOCITY = 39, SENSPACK_REQ_RADIUS = 40, SENSPACK_REQ_RIGHT_VELOCITY = 41, SENSPACK_REQ_LEFT_VELOCITY = 42, SENSPACK_RIGHT_ENCODER = 43, SENSPACK_LEFT_ENCODER = 44, SENSPACK_LIGHT_BUMPER = 45, SENSPACK_LIGHT_BUMPER_LEFT = 46, SENSPACK_LIGHT_BUMPER_FRONT_LEFT = 47, SENSPACK_LIGHT_BUMPER_CENTER_LEFT = 48, SENSPACK_LIGHT_BUMPER_CENTER_RIGHT = 49, SENSPACK_LIGHT_BUMPER_FRONT_RIGHT = 50, SENSPACK_LIGHT_BUMPER_RIGHT = 51, SENSPACK_IR_CHAR_LEFT = 52, SENSPACK_IR_CHAR_RIGHT = 53, SENSPACK_LEFT_MOTOR_CURRENT = 54, SENSPACK_RIGHT_MOTOR_CURRENT = 55, SENSPACK_BRUSH_MOTOR_CURRENT = 56, SENSPACK_SIDE_BRUSH_MOTOR_CURRENT = 57, SENSPACK_STASIS = 58, SENSPACK_GROUP_0 = 0, SENSPACK_GROUP_1 = 1, SENSPACK_GROUP_2 = 2, SENSPACK_GROUP_3 = 3, SENSPACK_GROUP_4 = 4, SENSPACK_GROUP_5 = 5, SENSPACK_GROUP_6 = 6, SENSPACK_GROUP_ALL = 100, SENSPACK_GROUP_101 = 101, SENSPACK_GROUP_106 = 106, SENSPACK_GROUP_107 = 107 }
	Roomba 500 sensor package IDs. More...
enum	Mode { MODE_OFF = 0, MODE_PASSIVE = 1, MODE_SAFE = 2, MODE_FULL = 3 }
	Roomba 500 operation mode. More...
enum	StreamState { STREAM_ENABLE = 1, STREAM_DISABLE = 0 }
	Sensor stream state. More...
enum	ChargingState { CHARGING_NO = 0, CHARGING_RECONDITIONING = 1, CHARGING_FULL = 2, CHARGING_TRICKLE = 3, CHARGING_WAITING = 4, CHARGING_ERROR = 5 }
	Charging state. More...
enum	InfraredCharacter { IR_REMOTE_LEFT = 129, IR_REMOTE_FORWARD = 130, IR_REMOTE_RIGHT = 131, IR_REMOTE_SPOT = 132, IR_REMOTE_MAX = 133, IR_REMOTE_SMALL = 134, IR_REMOTE_MEDIUM = 135, IR_REMOTE_LARGE_CLEAN = 136, IR_REMOTE_STOP = 137, IR_REMOTE_POWER = 138, IR_REMOTE_ARC_LEFT = 139, IR_REMOTE_ARC_RIGHT = 140, IR_REMOTE_STOP2 = 141, IR_SCHED_REMOTE_DOWNLOAD = 142, IR_SCHED_REMOTE_SEEK_DOCK = 143, IR_DISC_DOCK_RESERVED = 240, IR_DISC_DOCK_RED_BUOY = 248, IR_DISC_DOCK_GREEN_BUOY = 244, IR_DISC_DOCK_FORCE_FIELD = 242, IR_DISC_DOCK_RED_GREEN_BUOY = 252, IR_DISC_DOCK_RED_BUOY_FORCE_FIELD = 250, IR_DISC_DOCK_GREEN_BUOY_FORCE_FIELD = 246, IR_DISC_DOCK_RED_GREEN_BUOY_FORCE_FIELD = 254, IR_DOCK_RESERVED = 160, IR_DOCK_RED_BUOY = 168, IR_DOCK_GREEN_BUOY = 164, IR_DOCK_FORCE_FIELD = 161, IR_DOCK_RED_GREEN_BUOY = 172, IR_DOCK_RED_BUOY_FORCE_FIELD = 169, IR_DOCK_GREEN_BUOY_FORCE_FIELD = 165, IR_DOCK_RED_GREEN_BUOY_FORCE_FIELD = 173, IR_VIRTUAL_WALL = 162 }
	Infrared character values. More...
enum	ScheduleDay { DAY_SUNDAY = 0, DAY_MONDAY = 1, DAY_TUESDAY = 2, DAY_WEDNESDAY = 3, DAY_THURSDAY = 4, DAY_FRIDAY = 5, DAY_SATURDAY = 6 }
	Days for scheduler. More...
enum	TurnDirection { TURN_CLOCKWISE, TURN_COUNTER_CLOCKWISE }
	Turning direction. More...

Public Member Functions
	Roomba500 (ConnectionType conntype, const char *device, unsigned int flags=0)
	Constructor.
	~Roomba500 ()
	Destructor.
void	open ()
	Open serial port.
void	close ()
	Close serial connection.
bool	is_connected () const
	Check if connection has been established.
ConnectionType	get_connection_type () const
	Get connection type.
const char *	get_device () const
	Get device string.
Mode	get_mode () const
	Get current mode.
bool	is_controlled () const
	Check if robot is being controlled.
void	set_mode (Mode mode)
	Set control mode.
void	clean ()
	Start normal cleaning operation.
void	clean_spot ()
	Start spot cleaning operation.
void	seek_dock ()
	Seek for the home base and dock.
void	power_down ()
	Powers down the Roomba.
void	stop ()
	Stop moption of the Roomba.
void	drive_straight (short int velo_mm_per_sec)
	Drive Roomba straight.
void	drive_turn (TurnDirection direction)
	Turn robot on the spot.
void	drive_arc (short int velo_mm_per_sec, short int radius_mm)
	Drive Roomba on an arc.
void	drive (short int velocity_mm_per_sec, short int radius_mm)
	Drive Roomba.
void	drive_direct (short int left_mm_per_sec, short int right_mm_per_sec)
	Directly control wheel velocities.
void	drive_pwm (short int left_wheel_pwm, short int right_wheel_pwm)
	Directly control wheel velocities via PWM.
void	set_motors (bool main=true, bool side=true, bool vacuum=true, bool main_backward=false, bool side_backward=false)
	Set motor states (brushes and vacuum).
void	set_leds (bool debris, bool spot, bool dock, bool check_robot, unsigned char clean_color, unsigned char clean_intensity)
	Set LED status of main LEDs.
void	set_digit_leds (const char digits[4])
	Set digit LEDs.
void	enable_sensors ()
	Enable sensor data stream.
void	disable_sensors ()
	Disable sensor data stream.
bool	is_data_available ()
	Check if data is available.
void	read_sensors ()
	Read sensor values.
void	query_sensors ()
	Query sensor once.
bool	has_sensor_packet () const
	Check if sensor packet is availabe.
const SensorPacketGroupAll	get_sensor_packet () const
	Get latest sensor packet.
void	play_fanfare ()
	Play a simple fanfare.

Static Public Member Functions
static unsigned short int	get_packet_size (SensorPacketID packet)
	Get size of packet.

Static Public Attributes
static const unsigned char	BUTTON_CLEAN
	Cleaning button.
static const unsigned char	BUTTON_SPOT
	Spot cleaning button.
static const unsigned char	BUTTON_DOCK
	Dock button.
static const unsigned char	BUTTON_MINUTE
	Minute button.
static const unsigned char	BUTTON_HOUR
	Hour button.
static const unsigned char	BUTTON_DAY
	Day button.
static const unsigned char	BUTTON_SCHEDULE
	Schedule button.
static const unsigned char	BUTTON_CLOCK
	Clock button.
static const unsigned char	WHEEL_DROP_LEFT
	Left wheel drop bit.
static const unsigned char	WHEEL_DROP_RIGHT
	Right wheel drop bit.
static const unsigned char	BUMP_LEFT
	Left bumper bit.
static const unsigned char	BUMP_RIGHT
	Right bumper bit.
static const unsigned char	OVERCURRENT_WHEEL_LEFT
	Left wheel bit.
static const unsigned char	OVERCURRENT_WHEEL_RIGHT
	Right wheel bit.
static const unsigned char	OVERCURRENT_MAIN_BRUSH
	Main brush bit.
static const unsigned char	OVERCURRENT_SIDE_BRUSH
	Side brush bit.
static const unsigned char	CHARGING_SOURCE_HOME_BASE
	Docking station.
static const unsigned char	CHARGING_SOURCE_INTERNAL
	Internal socket.
static const unsigned char	BUMPER_LEFT
	Left bumper.
static const unsigned char	BUMPER_FRONT_LEFT
	Front left bumper.
static const unsigned char	BUMPER_CENTER_LEFT
	Center left bumper.
static const unsigned char	BUMPER_CENTER_RIGHT
	Center right bumper.
static const unsigned char	BUMPER_FRONT_RIGHT
	Front right bumper.
static const unsigned char	BUMPER_RIGHT
	Right bumper.
static const unsigned char	LED_DEBRIS
	Debris LED bit.
static const unsigned char	LED_SPOT
	Spot LED bit.
static const unsigned char	LED_DOCK
	Dock LED bit.
static const unsigned char	LED_CHECK_ROBOT
	Check robot LED bit.
static const unsigned char	WEEKDAY_LED_SUN
	Sunday.
static const unsigned char	WEEKDAY_LED_MON
	Monday.
static const unsigned char	WEEKDAY_LED_TUE
	Tuesday.
static const unsigned char	WEEKDAY_LED_WED
	Wednesday.
static const unsigned char	WEEKDAY_LED_THU
	Thursday.
static const unsigned char	WEEKDAY_LED_FRI
	Friday.
static const unsigned char	WEEKDAY_LED_SAT
	Saturday.
static const unsigned char	SCHEDULING_LED_COLON
	Colon LED bit.
static const unsigned char	SCHEDULING_LED_PM
	PM LED bit.
static const unsigned char	SCHEDULING_LED_AM
	AM LED bit.
static const unsigned char	SCHEDULING_LED_CLOCK
	Clock LED bit.
static const unsigned char	SCHEDULING_LED_SCHEDULE
	Schedule LED bit.
static const unsigned char	DIGIT_LED_NORTH
	Top segment LED.
static const unsigned char	DIGIT_LED_NORTH_WEST
	Top left segment LED.
static const unsigned char	DIGIT_LED_NORTH_EAST
	Top right segment LED.
static const unsigned char	DIGIT_LED_CENTER
	Center segment LED.
static const unsigned char	DIGIT_LED_SOUTH_WEST
	Bottom left segment.
static const unsigned char	DIGIT_LED_SOUTH_EAST
	Bottom right segment.
static const unsigned char	DIGIT_LED_SOUTH
	Bottom segment LED.
static const unsigned char	MOTOR_SIDE_BRUSH
	Side brush motor bit.
static const unsigned char	MOTOR_VACUUM
	Vacuum motor bit.
static const unsigned char	MOTOR_MAIN_BRUSHES
	Main brush motor bit.
static const unsigned char	MOTOR_SIDE_BRUSH_BACKWARD
	Side backward bit.
static const unsigned char	MOTOR_MAIN_BRUSHES_BACKWARD
	Main backward bit.
static const unsigned char	CHARGER_HOME_BASE
	Home base charger bit.
static const unsigned char	CHARGER_INTERNAL
	Internal charger bit.
static const float	DIAMETER
static const float	BUMPER_X_OFFSET
	X Offset of bumper.
static const float	AXLE_LENGTH
	Axle length.
static const short int	MAX_LIN_VEL_MM_S
	Maximum linear velocity.
static const short int	MAX_RADIUS_MM
	Maximum drive radius.
static const short int	MAX_PWM
	Maximum PWM value for wheels.
static const unsigned short int	MAX_ENCODER_COUNT
	Maximum encoder count.
static const unsigned short int	STREAM_INTERVAL_MS
	Time in ms between.
static const unsigned short int	MODE_CHANGE_WAIT_MS
	Time in ms to wait after mode changes.
static const unsigned char	CHECKSUM_SIZE
	Checksum byte size.

Detailed Description

Roomba 500 series communication class.

This class implements the serial communication with Roomba robots of the 500 series.

RFCOMM by reading http://people.csail.mit.edu/albert/bluez-intro/.

Author:: Tim Niemueller

Definition at line 34 of file roomba_500.h.

Member Enumeration Documentation

enum Roomba500::ChargingState

Charging state.

Enumerator:

CHARGING_NO	Not charging.
CHARGING_RECONDITIONING	Reconditioning battery.
CHARGING_FULL	Full charging cycle.
CHARGING_TRICKLE	Trickle charging.
CHARGING_WAITING	Waiting.
CHARGING_ERROR	Fault condition.

Definition at line 162 of file roomba_500.h.

enum Roomba500::ConnectionFlags

Connection flags.

These flags allow to influence the connection creation and operation.

Enumerator:

FLAG_FIREFLY_FASTMODE

Enable fast mode, assume FireFly RooTooth.

Definition at line 45 of file roomba_500.h.

enum Roomba500::ConnectionType

Connection type.

Enumerator:

CONNTYPE_SERIAL	Use serial connection (device file).
CONNTYPE_ROOTOOTH	Use BlueZ to find and connect to RooTooth.

Definition at line 38 of file roomba_500.h.

enum Roomba500::InfraredCharacter

Infrared character values.

Enumerator:

IR_REMOTE_LEFT	IR Remote Control: left button.
IR_REMOTE_FORWARD	IR Remote Control: forward button.
IR_REMOTE_RIGHT	IR Remote Control: right button.
IR_REMOTE_SPOT	IR Remote Control: spot button.
IR_REMOTE_MAX	IR Remote Control: max button.
IR_REMOTE_SMALL	IR Remote Control: small button.
IR_REMOTE_MEDIUM	IR Remote Control: medium button.
IR_REMOTE_LARGE_CLEAN	IR Remote Control: large/clean button.
IR_REMOTE_STOP	IR Remote Control: stop button.
IR_REMOTE_POWER	IR Remote Control: power button.
IR_REMOTE_ARC_LEFT	IR Remote Control: left arc button.
IR_REMOTE_ARC_RIGHT	IR Remote Control: right arc button.
IR_REMOTE_STOP2	IR Remote Control: stop button.
IR_SCHED_REMOTE_DOWNLOAD	IR scheduling remote: download button.
IR_SCHED_REMOTE_SEEK_DOCK	IR scheduling remote: seek dock button.
IR_DISC_DOCK_RESERVED	Roomba Discovery dock: reserved.
IR_DISC_DOCK_RED_BUOY	Roomba Discovery dock: red buoy.
IR_DISC_DOCK_GREEN_BUOY	Roomba Discovery dock: green buoy.
IR_DISC_DOCK_FORCE_FIELD	Roomba Discovery dock: red and green buoy.
IR_DISC_DOCK_RED_GREEN_BUOY	Roomba Discovery dock: red buoy and force field.
IR_DISC_DOCK_RED_BUOY_FORCE_FIELD	Roomba Discovery dock: green buoy and force field.
IR_DISC_DOCK_GREEN_BUOY_FORCE_FIELD	Roomba Discovery dock: green buoy and force field.
IR_DISC_DOCK_RED_GREEN_BUOY_FORCE_FIELD	Roomba Discovery dock: red. and green buoy and force field
IR_DOCK_RESERVED	Roomba 500 dock: reserved.
IR_DOCK_RED_BUOY	Roomba 500 dock: red buoy.
IR_DOCK_GREEN_BUOY	Roomba 500 dock: green buoy.
IR_DOCK_FORCE_FIELD	Roomba 500 dock: red and green buoy.
IR_DOCK_RED_GREEN_BUOY	Roomba 500 dock: red buoy and force. field
IR_DOCK_RED_BUOY_FORCE_FIELD	Roomba 500 dock: green buoy and force field.
IR_DOCK_GREEN_BUOY_FORCE_FIELD	Roomba 500 dock: green buoy and force field.
IR_DOCK_RED_GREEN_BUOY_FORCE_FIELD	Roomba 500 dock: red and green buoy and force field.
IR_VIRTUAL_WALL	IR Virtual Wall.

Definition at line 172 of file roomba_500.h.

enum Roomba500::Mode

Roomba 500 operation mode.

Enumerator:

MODE_OFF	No connection.
MODE_PASSIVE	Passive mode, no control, only listening.
MODE_SAFE	Control acquired, safety measures in place.
MODE_FULL	Control acquired, safety measures disabled.

Definition at line 148 of file roomba_500.h.

enum Roomba500::OpCode

Roomba 500 Command op codes.

Enumerator:

OPCODE_START	Initiate communication with Roomba.
OPCODE_BAUD	Set baud rate.
OPCODE_CONTROL	Old alias for SAFE.
OPCODE_SAFE	Enter safe mode.
OPCODE_FULL	Enter full mode.
OPCODE_POWER	Power down Roomba.
OPCODE_SPOT	Start spot cleaning.
OPCODE_CLEAN	Start normal cleaning mission.
OPCODE_MAX	Start max cleaning mode.
OPCODE_DRIVE	Drive robot.
OPCODE_MOTORS	Set motor state.
OPCODE_LEDS	Control LEDs.
OPCODE_SONG	Register song.
OPCODE_PLAY	Play song.
OPCODE_QUERY	Query sensor info.
OPCODE_SEEK_DOCK	Start seeking dock.
OPCODE_PWM_MOTORS	PWM control of motors.
OPCODE_DRIVE_WHEELS	Drive wheels.
OPCODE_DRIVE_PWM	Drive by PWM.
OPCODE_STREAM	Start streaming of data.
OPCODE_QUERY_LIST	Query multiple sensor packets.
OPCODE_PAUSE_RESUME_STREAM	Pause or resume streaming data.
OPCODE_SCHEDULE_LEDS	Control schedule LEDs.
OPCODE_DIGIT_LEDS_RAW	Raw control of digit LEDs.
OPCODE_DIGIT_LEDS_ASCII	Ascii control of digit LEDs.
OPCODE_BUTTONS	Control buttons.
OPCODE_SCHEDULE	Manipulate schedule.
OPCODE_SET_DAY_TIME	Set day and time.

Definition at line 50 of file roomba_500.h.

enum Roomba500::ScheduleDay

Days for scheduler.

Enumerator:

DAY_SUNDAY	Sunday.
DAY_MONDAY	Monday.
DAY_TUESDAY	Tuesday.
DAY_WEDNESDAY	Wednesday.
DAY_THURSDAY	Thursday.
DAY_FRIDAY	Friday.
DAY_SATURDAY	Saturday.

Definition at line 218 of file roomba_500.h.

enum Roomba500::SensorPacketID

Roomba 500 sensor package IDs.

Enumerator:

SENSPACK_BUMPS_DROPS	Bumper and wheel drops.
SENSPACK_WALL	Wall sensor.
SENSPACK_CLIFF_LEFT	Left cliff sensor.
SENSPACK_CLIFF_FRONT_LEFT	Front left cliff sensor.
SENSPACK_CLIFF_FRONT_RIGHT	Front right cliff sensor.
SENSPACK_CLIFF_RIGHT	Right cliff sensor.
SENSPACK_VIRTUAL_WALL	Virtual wall detector.
SENSPACK_WHEEL_OVERCURRENTS	Overcurrents.
SENSPACK_DIRT_DETECT	Dirt detection sensor.
SENSPACK_IR_CHAR_OMNI	Omnidirectional IR receiver.
SENSPACK_BUTTONS	Button status.
SENSPACK_DISTANCE	Travelled distance.
SENSPACK_ANGLE	Turned angle.
SENSPACK_CHARGING_STATE	Charging state.
SENSPACK_VOLTAGE	Voltage.
SENSPACK_CURRENT	Current.
SENSPACK_TEMPERATURE	Temperature.
SENSPACK_BATTERY_CHARGE	Battery charge.
SENSPACK_BATTERY_CAPACITY	Battery capacity.
SENSPACK_WALL_SIGNAL	Wall signal value.
SENSPACK_CLIFF_LEFT_SIGNAL	Left cliff signal value.
SENSPACK_CLIFF_FRONT_LEFT_SIGNAL	Front left cliff signal value.
SENSPACK_CLIFF_FRONT_RIGHT_SIGNAL	Right cliff signal value.
SENSPACK_CLIFF_RIGHT_SIGNAL	Front right cliff signal value.
SENSPACK_CHARGE_SOURCES	Available charge sources.
SENSPACK_OI_MODE	Open Interface mode.
SENSPACK_SONG_NUMBER	Song number.
SENSPACK_SONG_PLAYING	Song playing indicator.
SENSPACK_STREAM_PACKETS	Number of stream packets.
SENSPACK_REQ_VELOCITY	Requested velocity.
SENSPACK_REQ_RADIUS	Requested radius.
SENSPACK_REQ_RIGHT_VELOCITY	Requested right velocity.
SENSPACK_REQ_LEFT_VELOCITY	Requested left velocity.
SENSPACK_RIGHT_ENCODER	Right encoder value.
SENSPACK_LEFT_ENCODER	Left encoder value.
SENSPACK_LIGHT_BUMPER	Light bumper status.
SENSPACK_LIGHT_BUMPER_LEFT	Left bumper signal.
SENSPACK_LIGHT_BUMPER_FRONT_LEFT	Front left bumper signal.
SENSPACK_LIGHT_BUMPER_CENTER_LEFT	Center left bumper signal.
SENSPACK_LIGHT_BUMPER_CENTER_RIGHT	Center right bumper signal.
SENSPACK_LIGHT_BUMPER_FRONT_RIGHT	Front right bumper signal.
SENSPACK_LIGHT_BUMPER_RIGHT	Right bumper signal.
SENSPACK_IR_CHAR_LEFT	Left IR character.
SENSPACK_IR_CHAR_RIGHT	Right IR character.
SENSPACK_LEFT_MOTOR_CURRENT	Left motor current.
SENSPACK_RIGHT_MOTOR_CURRENT	Right motor current.
SENSPACK_BRUSH_MOTOR_CURRENT	Brush motor current.
SENSPACK_SIDE_BRUSH_MOTOR_CURRENT	Side brush motor current.
SENSPACK_STASIS	Caster wheel stasis (forward movement)
SENSPACK_GROUP_0	Packet IDs 7-26.
SENSPACK_GROUP_1	Packet IDs 7-16.
SENSPACK_GROUP_2	Packet IDs 17-20.
SENSPACK_GROUP_3	Packet IDs 21-26.
SENSPACK_GROUP_4	Packet IDs 27-34.
SENSPACK_GROUP_5	Packet IDs 35-42.
SENSPACK_GROUP_6	Packet IDs 7-42.
SENSPACK_GROUP_ALL	All packet IDs (7-58)
SENSPACK_GROUP_101	Packet IDs 43-58.
SENSPACK_GROUP_106	Packet IDs 46-51.
SENSPACK_GROUP_107	Packet IDs 54-58.

Definition at line 82 of file roomba_500.h.

enum Roomba500::StreamState

Sensor stream state.

Enumerator:

STREAM_ENABLE	Stream enabled.
STREAM_DISABLE	Stream disabled.

Definition at line 156 of file roomba_500.h.

enum Roomba500::TurnDirection

Turning direction.

Enumerator:

TURN_CLOCKWISE	Clockwise turning.
TURN_COUNTER_CLOCKWISE	Counter-Clockwise turning.

Definition at line 229 of file roomba_500.h.

Constructor & Destructor Documentation

Roomba500::Roomba500	(	Roomba500::ConnectionType	conntype,
		const char *	device,
		unsigned int	flags = `0`
	)

Constructor.

Parameters:

conntype	connection type
device	for CONN_SERIAL connection type this is the device file for the serial connection. For CONN_ROOTOOTH this is either a name pattern of a bluetooth device to query or a bluetooth address. The name can be the full name, or a pattern using shell globs (e.g. FireFly-*). The bluetooth address must be given in hexadecimal manner (e.g. 00:11:22:33:44:55).
flags	ConnectionFlags constants, joined with bit-wise "or" (\|).

Definition at line 241 of file roomba_500.cpp.

Roomba500::~Roomba500 ( )

Destructor.

Definition at line 275 of file roomba_500.cpp.

Member Function Documentation

void Roomba500::clean ( )

Start normal cleaning operation.

Transitions to passive mode.

Definition at line 845 of file roomba_500.cpp.

void Roomba500::clean_spot ( )

Start spot cleaning operation.

Transitions to passive mode.

Definition at line 857 of file roomba_500.cpp.

void Roomba500::close ( )

Close serial connection.

Definition at line 545 of file roomba_500.cpp.

void Roomba500::disable_sensors ( )

Disable sensor data stream.

Definition at line 761 of file roomba_500.cpp.

void Roomba500::drive	(	short int	velo_mm_per_sec,
		short int	radius_mm
	)

Drive Roomba.

Available only in safe or full mode.

Parameters:

velo_mm_per_sec	desired velocity in m/sec
radius_mm	desired radius of arc in m

Definition at line 968 of file roomba_500.cpp.

Referenced by Roomba500Thread::loop().

void Roomba500::drive_arc	(	short int	velo_mm_per_sec,
		short int	radius_mm
	)

Drive Roomba on an arc.

Available only in safe or full mode.

Parameters:

velo_mm_per_sec	desired velocity in m/sec
radius_mm	desired radius of arc in m

Definition at line 945 of file roomba_500.cpp.

void Roomba500::drive_direct	(	short int	left_mm_per_sec,
		short int	right_mm_per_sec
	)

Directly control wheel velocities.

Available only in safe or full mode.

Parameters:

left_mm_per_sec	velocity of left wheel in m/sec
right_mm_per_sec	velocity of right wheel in m/sec

Definition at line 992 of file roomba_500.cpp.

void Roomba500::drive_pwm	(	short int	left_wheel_pwm,
		short int	right_wheel_pwm
	)

Directly control wheel velocities via PWM.

Available only in safe or full mode.

Parameters:

left_wheel_pwm	PWM parameter for left wheel
right_wheel_pwm	PWM parameter for right wheel

Definition at line 1017 of file roomba_500.cpp.

void Roomba500::drive_straight ( short int velo_mm_per_sec )

Drive Roomba straight.

Available only in safe or full mode.

Parameters:

velo_mm_per_sec desired velocity in m/sec

Definition at line 908 of file roomba_500.cpp.

Referenced by Roomba500Thread::loop().

void Roomba500::drive_turn ( Roomba500::TurnDirection direction )

Turn robot on the spot.

Available only in safe or full mode.

Parameters:

direction turning direction

Definition at line 927 of file roomba_500.cpp.

void Roomba500::enable_sensors ( )

Enable sensor data stream.

For simplicity and efficiency only the single SENSPACK_GROUP_ALL packet can be streamed at this time. Make sure that the used connection is fast enough. 56700 bit/sec should suffice, but 115200 is strongly recommended. If using RooTooth make sure to use it in fast mode.

Definition at line 741 of file roomba_500.cpp.

ConnectionType Roomba500::get_connection_type ( ) const

inline

Get connection type.

Returns:: connection type

Definition at line 450 of file roomba_500.h.

const char* Roomba500::get_device ( ) const

inline

Get device string.

Returns:: device string

Definition at line 453 of file roomba_500.h.

Referenced by Roomba500Thread::init().

Mode Roomba500::get_mode ( ) const

inline

Get current mode.

Returns:: current mode.

Definition at line 457 of file roomba_500.h.

Referenced by Roomba500Thread::loop().

unsigned short int Roomba500::get_packet_size ( Roomba500::SensorPacketID packet )

static

Get size of packet.

Parameters:

packet ID of packet to query size for

Returns:: size of packet

Exceptions:

Exception thrown for unknown packet IDs.

Definition at line 1144 of file roomba_500.cpp.

const Roomba500::SensorPacketGroupAll Roomba500::get_sensor_packet ( ) const

Get latest sensor packet.

Returns:: sensor packet

Definition at line 807 of file roomba_500.cpp.

Referenced by Roomba500Thread::write_blackboard().

bool Roomba500::has_sensor_packet ( ) const

inline

Check if sensor packet is availabe.

Returns:: true if sensor packet is available, false otherwise

Definition at line 491 of file roomba_500.h.

bool Roomba500::is_connected ( ) const

inline

Check if connection has been established.

Returns:: true if connection has been established, false otherwise.

Definition at line 446 of file roomba_500.h.

Referenced by is_controlled().

bool Roomba500::is_controlled ( ) const

inline

Check if robot is being controlled.

Returns:: true if robot is being controlled, false otherwise.

Definition at line 461 of file roomba_500.h.

References is_connected(), MODE_FULL, and MODE_SAFE.

Referenced by Roomba500Thread::init(), Roomba500Thread::loop(), and Roomba500Thread::write_blackboard().

bool Roomba500::is_data_available ( )

Check if data is available.

Returns:: true if data is available and can be read, false otherwise

Definition at line 648 of file roomba_500.cpp.

void Roomba500::open ( )

Open serial port.

Definition at line 287 of file roomba_500.cpp.

void Roomba500::play_fanfare ( )

Play a simple fanfare.

You can play this for example upon connection to inform the user.

Definition at line 1105 of file roomba_500.cpp.

Referenced by Roomba500Thread::init().

void Roomba500::power_down ( )

Powers down the Roomba.

Transitions to passive mode.

Definition at line 882 of file roomba_500.cpp.

void Roomba500::query_sensors ( )

Query sensor once.

For simplicity and efficiency only the single SENSPACK_GROUP_ALL packet can be streamed at this time.

Definition at line 779 of file roomba_500.cpp.

void Roomba500::read_sensors ( )

Read sensor values.

Enable sensors before using enable_sensors(). This method will block until new data has been read. You can call is_data_available() to check if this method will block or not.

Definition at line 673 of file roomba_500.cpp.

void Roomba500::seek_dock ( )

Seek for the home base and dock.

Transitions to passive mode.

Definition at line 869 of file roomba_500.cpp.

Referenced by Roomba500Thread::loop().

void Roomba500::set_digit_leds ( const char digits[4] )

Set digit LEDs.

Available only in safe or full mode. Note, that not all characters are availabe. You can use ASCII table entries 32-39, 44-63, 65-96, and 123-126.

Parameters:

digits array of digit values

Definition at line 1093 of file roomba_500.cpp.

Referenced by Roomba500Thread::write_blackboard().

void Roomba500::set_leds	(	bool	debris,
		bool	spot,
		bool	dock,
		bool	check_robot,
		unsigned char	clean_color,
		unsigned char	clean_intensity
	)

Set LED status of main LEDs.

Available only in safe or full mode.

Parameters:

debris	true to enable debris LED, false to disable
spot	true to enable spot LED, false to disable
dock	true to enable dock LED, false to disable
check_robot	true to enable check_robot LED, false to disable
clean_color	color of clean button LED from green (0) to red (255)
clean_intensity	intensity of clean button LED from off (0) to full intensity (255)

Definition at line 1071 of file roomba_500.cpp.

Referenced by Roomba500Thread::init(), and Roomba500Thread::loop().

void Roomba500::set_mode ( Roomba500::Mode mode )

Set control mode.

Parameters:

mode	the mode can be either MODE_FULL or MODE_SAFE (recommended). MODE_OFF and MODE_PASSIVE cannot be set explicitly. To enter MODE_PASSIVE issue a command which transitions mode, like clean() or seek_dock().

Exceptions:

Exception thrown if an invalid mode is passed

Definition at line 824 of file roomba_500.cpp.

Referenced by Roomba500Thread::finalize(), Roomba500Thread::init(), and Roomba500Thread::loop().

void Roomba500::set_motors	(	bool	main = `true`,
		bool	side = `true`,
		bool	vacuum = `true`,
		bool	main_backward = `false`,
		bool	side_backward = `false`
	)

Set motor states (brushes and vacuum).

Available only in safe or full mode.

Parameters:

main	true to enable main brushes
side	true to enable side brush
vacuum	true to enable vacuuming
main_backward	true to enable backward operation of main brushes
side_backward	true to enable backward operation of side brush

Definition at line 1044 of file roomba_500.cpp.

Referenced by Roomba500Thread::loop().

void Roomba500::stop ( )

Stop moption of the Roomba.

Available only in safe or full mode.

Definition at line 895 of file roomba_500.cpp.

Referenced by Roomba500Thread::loop().

Member Data Documentation

const float Roomba500::AXLE_LENGTH

static

Axle length.

Definition at line 365 of file roomba_500.h.

const unsigned char Roomba500::BUMP_LEFT

static

Left bumper bit.

Definition at line 245 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUMP_RIGHT

static

Right bumper bit.

Definition at line 246 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUMPER_CENTER_LEFT

static

Center left bumper.

Definition at line 258 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUMPER_CENTER_RIGHT

static

Center right bumper.

Definition at line 259 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUMPER_FRONT_LEFT

static

Front left bumper.

Definition at line 257 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUMPER_FRONT_RIGHT

static

Front right bumper.

Definition at line 260 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUMPER_LEFT

static

Left bumper.

Definition at line 256 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUMPER_RIGHT

static

Right bumper.

Definition at line 261 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const float Roomba500::BUMPER_X_OFFSET

static

X Offset of bumper.

Definition at line 364 of file roomba_500.h.

const unsigned char Roomba500::BUTTON_CLEAN

static

Cleaning button.

Definition at line 234 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUTTON_CLOCK

static

Clock button.

Definition at line 241 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUTTON_DAY

static

Day button.

Definition at line 239 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUTTON_DOCK

static

Dock button.

Definition at line 236 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUTTON_HOUR

static

Hour button.

Definition at line 238 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUTTON_MINUTE

static

Minute button.

Definition at line 237 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUTTON_SCHEDULE

static

Schedule button.

Definition at line 240 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::BUTTON_SPOT

static

Spot cleaning button.

Definition at line 235 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::CHARGER_HOME_BASE

static

Home base charger bit.

Definition at line 296 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::CHARGER_INTERNAL

static

Internal charger bit.

Definition at line 297 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::CHARGING_SOURCE_HOME_BASE

static

Docking station.

Definition at line 253 of file roomba_500.h.

const unsigned char Roomba500::CHARGING_SOURCE_INTERNAL

static

Internal socket.

Definition at line 254 of file roomba_500.h.

const unsigned char Roomba500::CHECKSUM_SIZE

static

Checksum byte size.

Definition at line 377 of file roomba_500.h.

const float Roomba500::DIAMETER

static

Robot diameter.

Definition at line 363 of file roomba_500.h.

const unsigned char Roomba500::DIGIT_LED_CENTER

static

Center segment LED.

Definition at line 285 of file roomba_500.h.

const unsigned char Roomba500::DIGIT_LED_NORTH

static

Top segment LED.

Definition at line 282 of file roomba_500.h.

const unsigned char Roomba500::DIGIT_LED_NORTH_EAST

static

Top right segment LED.

Definition at line 284 of file roomba_500.h.

const unsigned char Roomba500::DIGIT_LED_NORTH_WEST

static

Top left segment LED.

Definition at line 283 of file roomba_500.h.

const unsigned char Roomba500::DIGIT_LED_SOUTH

static

Bottom segment LED.

Definition at line 288 of file roomba_500.h.

const unsigned char Roomba500::DIGIT_LED_SOUTH_EAST

static

Bottom right segment.

Definition at line 287 of file roomba_500.h.

const unsigned char Roomba500::DIGIT_LED_SOUTH_WEST

static

Bottom left segment.

Definition at line 286 of file roomba_500.h.

const unsigned char Roomba500::LED_CHECK_ROBOT

static

Check robot LED bit.

Definition at line 266 of file roomba_500.h.

const unsigned char Roomba500::LED_DEBRIS

static

Debris LED bit.

Definition at line 263 of file roomba_500.h.

const unsigned char Roomba500::LED_DOCK

static

Dock LED bit.

Definition at line 265 of file roomba_500.h.

const unsigned char Roomba500::LED_SPOT

static

Spot LED bit.

Definition at line 264 of file roomba_500.h.

const unsigned short int Roomba500::MAX_ENCODER_COUNT

static

Maximum encoder count.

Definition at line 371 of file roomba_500.h.

const short int Roomba500::MAX_LIN_VEL_MM_S

static

Maximum linear velocity.

Definition at line 367 of file roomba_500.h.

const short int Roomba500::MAX_PWM

static

Maximum PWM value for wheels.

Definition at line 370 of file roomba_500.h.

const short int Roomba500::MAX_RADIUS_MM

static

Maximum drive radius.

Definition at line 368 of file roomba_500.h.

const unsigned short int Roomba500::MODE_CHANGE_WAIT_MS

static

Time in ms to wait after mode changes.

Definition at line 374 of file roomba_500.h.

const unsigned char Roomba500::MOTOR_MAIN_BRUSHES

static

Main brush motor bit.

Definition at line 292 of file roomba_500.h.

const unsigned char Roomba500::MOTOR_MAIN_BRUSHES_BACKWARD

static

Main backward bit.

Definition at line 294 of file roomba_500.h.

const unsigned char Roomba500::MOTOR_SIDE_BRUSH

static

Side brush motor bit.

Definition at line 290 of file roomba_500.h.

const unsigned char Roomba500::MOTOR_SIDE_BRUSH_BACKWARD

static

Side backward bit.

Definition at line 293 of file roomba_500.h.

const unsigned char Roomba500::MOTOR_VACUUM

static

Vacuum motor bit.

Definition at line 291 of file roomba_500.h.

const unsigned char Roomba500::OVERCURRENT_MAIN_BRUSH

static

Main brush bit.

Definition at line 250 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::OVERCURRENT_SIDE_BRUSH

static

Side brush bit.

Definition at line 251 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::OVERCURRENT_WHEEL_LEFT

static

Left wheel bit.

Definition at line 248 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::OVERCURRENT_WHEEL_RIGHT

static

Right wheel bit.

Definition at line 249 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::SCHEDULING_LED_AM

static

AM LED bit.

Definition at line 278 of file roomba_500.h.

const unsigned char Roomba500::SCHEDULING_LED_CLOCK

static

Clock LED bit.

Definition at line 279 of file roomba_500.h.

const unsigned char Roomba500::SCHEDULING_LED_COLON

static

Colon LED bit.

Definition at line 276 of file roomba_500.h.

const unsigned char Roomba500::SCHEDULING_LED_PM

static

PM LED bit.

Definition at line 277 of file roomba_500.h.

const unsigned char Roomba500::SCHEDULING_LED_SCHEDULE

static

Schedule LED bit.

Definition at line 280 of file roomba_500.h.

const unsigned short int Roomba500::STREAM_INTERVAL_MS

static

Time in ms between.

streamed sensor packets.

Definition at line 372 of file roomba_500.h.

Referenced by Roomba500Thread::WorkerThread::WorkerThread().

const unsigned char Roomba500::WEEKDAY_LED_FRI

static

Friday.

Definition at line 273 of file roomba_500.h.

const unsigned char Roomba500::WEEKDAY_LED_MON

static

Monday.

Definition at line 269 of file roomba_500.h.

const unsigned char Roomba500::WEEKDAY_LED_SAT

static

Saturday.

Definition at line 274 of file roomba_500.h.

const unsigned char Roomba500::WEEKDAY_LED_SUN

static

Sunday.

Definition at line 268 of file roomba_500.h.

const unsigned char Roomba500::WEEKDAY_LED_THU

static

Thursday.

Definition at line 272 of file roomba_500.h.

const unsigned char Roomba500::WEEKDAY_LED_TUE

static

Tuesday.

Definition at line 270 of file roomba_500.h.

const unsigned char Roomba500::WEEKDAY_LED_WED

static

Wednesday.

Definition at line 271 of file roomba_500.h.

const unsigned char Roomba500::WHEEL_DROP_LEFT

static

Left wheel drop bit.

Definition at line 243 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

const unsigned char Roomba500::WHEEL_DROP_RIGHT

static

Right wheel drop bit.

Definition at line 244 of file roomba_500.h.

Referenced by Roomba500Thread::write_blackboard().

The documentation for this class was generated from the following files:

src/plugins/roomba/roomba_500.h
src/plugins/roomba/roomba_500.cpp

Classes

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