irobot::OpenInterface Class Reference

C++ class implementation of the iRobot OI. More...

#include <inc/OpenInterface.h>

List of all members.

Public Member Functions
int	brushes (unsigned char side_brush, unsigned char vacuum, unsigned char main_brush, unsigned char side_brush_clockwise, unsigned char main_brush_dir)
	Set brushes.
int	brushesPWM (char main_brush, char side_brush, char vacuum)
	Set brushes motors pwms.
void	calculateOdometry ()
	Calculate Roomba odometry. Call after reading encoder pulses.
int	clean ()
	Set the Roomba in cleaning mode. Returns the OImode to safe.
int	closeSerialPort ()
	Close the serial port.
int	drive (double linear_speed, double angular_speed)
	Drive.
int	driveDirect (int left_speed, int right_speed)
	Drive direct.
int	drivePWM (int left_pwm, int right_pwm)
	Drive PWM.
int	getSensorPackets (int timeout)
	Read sensor packets.
int	goDock ()
	Sends the Roomba to the dock. Returns the OImode to safe.
int	max ()
	Set the Roomba in max cleaning mode. Returns the OImode to safe.
	OpenInterface (const char *new_serial_port)
	Constructor.
int	openSerialPort (bool full_control)
	Open the serial port.
int	playSong (unsigned char song_number)
	Play song.
int	powerDown ()
	Power down the Roomba.
void	resetOdometry ()
	Sends the Roomba to the dock. Returns the OImode to safe.
int	setDigitLeds (unsigned char digit3, unsigned char digit2, unsigned char digit1, unsigned char digit0)
	Set digit leds.
int	setLeds (unsigned char check_robot, unsigned char dock, unsigned char spot, unsigned char debris, unsigned char power_color, unsigned char power_intensity)
	Set leds.
void	setOdometry (double new_x, double new_y, double new_yaw)
int	setSchedulingLeds (unsigned char sun, unsigned char mon, unsigned char tue, unsigned char wed, unsigned char thu, unsigned char fri, unsigned char sat, unsigned char colon, unsigned char pm, unsigned char am, unsigned char clock, unsigned char schedule)
	Set scheduling leds.
int	setSensorPackets (OI_Packet_ID *new_sensor_packets, int new_num_of_packets, size_t new_buffer_size)
	Set sensor packets.
int	setSong (unsigned char song_number, unsigned char song_length, unsigned char *notes, unsigned char *note_lengths)
	Set song.
int	spot ()
	Set the Roomba in spot cleaning mode. Returns the OImode to safe.
int	startStream ()
	Start stream. NOT TESTED.
int	stopStream ()
	Stom stream. NOT TESTED.
int	streamSensorPackets ()
	Stream sensor packets. NOT TESTED.
	~OpenInterface ()
	Destructor.
Public Attributes
bool	bumper_ [2]
	Cliff sensors. Indexes: LEFT FRONT_LEFT FRONT_RIGHT RIGHT.
bool	buttons_ [8]
	IR characters received. Indexes: OMNI LEFT RIGHT.
float	capacity_
	Battery charge in Ah.
float	charge_
	Battery temperature in C degrees.
unsigned char	charging_state_
	Motor overcurrent. Indexes: LEFT RIGHT MAIN_BRUSH SIDE_BRUSH.
bool	cliff_ [4]
	Virtual wall detected.
int	cliff_signal_ [4]
	Wall signal.
float	current_
	Battery voltage in volts.
unsigned char	dirt_detect_
	Buttons. Indexes: BUTTON_CLOCK BUTTON_SCHEDULE BUTTON_DAY BUTTON_HOUR BUTTON_MINUTE BUTTON_DOCK BUTTON_SPOT BUTTON_CLEAN.
bool	dock_
	Whether the Roomba is connected to the power cord or not.
bool	ir_bumper_ [6]
	Bumper sensors. Indexes: LEFT RIGHT.
int	ir_bumper_signal_ [6]
	CLiff sensors signal. Indexes: LEFT FRONT_LEFT FRONT_RIGHT RIGHT.
unsigned char	ir_char_ [3]
	IR bumper sensors signal. Indexes: LEFT FRONT_LEFT CENTER_LEFT CENTER_RIGHT FRONT_RIGHT RIGHT.
int	motor_current_ [4]
	Dirt detected.
double	odometry_x_
	Roomba odometry x.
double	odometry_y_
	Roomba odometry y.
double	odometry_yaw_
	Roomba odometry yaw.
unsigned char	OImode_
	Current operation mode, one of ROOMBA_MODE_'s.
bool	overcurrent_ [4]
	Motor current. Indexes: LEFT RIGHT MAIN_BRUSH SIDE_BRUSH.
bool	power_cord_
	One of OI_CHARGING_'s.
int	stasis_
	Battery capacity in Ah.
char	temperature_
	Battery current in amps.
bool	virtual_wall_
	Wall detected.
float	voltage_
	Whether the Roomba is docked or not.
bool	wall_
int	wall_signal_
	Wheel drop sensors: Indexes: LEFT RIGHT.
bool	wheel_drop_ [2]
	IR bumper sensors. Indexes: LEFT FRONT_LEFT CENTER_LEFT CENTER_RIGHT FRONT_RIGHT RIGHT.
Private Member Functions
int	buffer2signed_int (unsigned char *buffer, int index)
	Buffer to signed int.
int	buffer2unsigned_int (unsigned char *buffer, int index)
	Buffer to unsigned int.
int	parseAngle (unsigned char *buffer, int index)
int	parseBatteryCapacity (unsigned char *buffer, int index)
int	parseBatteryCharge (unsigned char *buffer, int index)
int	parseBumpersAndWheeldrops (unsigned char *buffer, int index)
int	parseButtons (unsigned char *buffer, int index)
int	parseChargingSource (unsigned char *buffer, int index)
int	parseChargingState (unsigned char *buffer, int index)
int	parseCurrent (unsigned char *buffer, int index)
int	parseDirtDetector (unsigned char *buffer, int index)
int	parseDistance (unsigned char *buffer, int index)
int	parseFontRightCliffSignal (unsigned char *buffer, int index)
int	parseFrontLeftCliff (unsigned char *buffer, int index)
int	parseFrontLeftCliffSignal (unsigned char *buffer, int index)
int	parseFrontRightCliff (unsigned char *buffer, int index)
int	parseIrCharLeft (unsigned char *buffer, int index)
int	parseIrCharRight (unsigned char *buffer, int index)
int	parseIrOmniChar (unsigned char *buffer, int index)
int	parseLeftCliff (unsigned char *buffer, int index)
int	parseLeftCliffSignal (unsigned char *buffer, int index)
int	parseLeftEncoderCounts (unsigned char *buffer, int index)
int	parseLeftMotorCurrent (unsigned char *buffer, int index)
int	parseLightBumper (unsigned char *buffer, int index)
int	parseLightBumperCenterLeftSignal (unsigned char *buffer, int index)
int	parseLightBumperCenterRightSignal (unsigned char *buffer, int index)
int	parseLightBumperFrontLeftSignal (unsigned char *buffer, int index)
int	parseLightBumperFrontRightSignal (unsigned char *buffer, int index)
int	parseLightBumperLeftSignal (unsigned char *buffer, int index)
int	parseLightBumperRightSignal (unsigned char *buffer, int index)
int	parseMainBrushMotorCurrent (unsigned char *buffer, int index)
int	parseNumberOfStreamPackets (unsigned char *buffer, int index)
int	parseOiMode (unsigned char *buffer, int index)
int	parseOvercurrents (unsigned char *buffer, int index)
int	parseRequestedLeftVelocity (unsigned char *buffer, int index)
int	parseRequestedRadius (unsigned char *buffer, int index)
int	parseRequestedRightVelocity (unsigned char *buffer, int index)
int	parseRequestedVelocity (unsigned char *buffer, int index)
int	parseRightCliff (unsigned char *buffer, int index)
int	parseRightCliffSignal (unsigned char *buffer, int index)
int	parseRightEncoderCounts (unsigned char *buffer, int index)
int	parseRightMotorCurrent (unsigned char *buffer, int index)
int	parseSensorPackets (unsigned char *buffer, size_t buffer_length)
	1 when the robot is going forward, 0 otherwise
int	parseSideBrushMotorCurrent (unsigned char *buffer, int index)
int	parseSongNumber (unsigned char *buffer, int index)
int	parseSongPlaying (unsigned char *buffer, int index)
int	parseStasis (unsigned char *buffer, int index)
int	parseTemperature (unsigned char *buffer, int index)
int	parseVirtualWall (unsigned char *buffer, int index)
int	parseVoltage (unsigned char *buffer, int index)
int	parseWall (unsigned char *buffer, int index)
int	parseWallSignal (unsigned char *buffer, int index)
int	sendOpcode (OI_Opcode code)
	Send OP code.
int	startOI (bool full_control)
	Start OI.
Private Attributes
int	angle_
	Amount of angle turned since last reading. Not being used, poor resolution.
int	distance_
	Amount of distance travelled since last reading. Not being used, poor resolution.
int	encoder_counts_ [2]
	Delta encoder counts.
uint16_t	last_encoder_counts_ [2]
	Last encoder counts reading. For odometry calculation.
int	num_of_packets_
	Number of packets.
size_t	packets_size_
	Total size of packets.
std::string	port_name_
	Serial port to which the robot is connected.
OI_Packet_ID *	sensor_packets_
	Array of packets.
cereal::CerealPort *	serial_port_
	Cereal port object.
bool	stream_defined_
	Stream variable. NOT TESTED.

---

Detailed Description

C++ class implementation of the iRobot OI.

This class implements the iRobot Open Interface protocolor as described by iRobot. Based on the Player Roomba driver writen by Brian Gerkey.

Definition at line 293 of file OpenInterface.h.

---

Constructor & Destructor Documentation

irobot::OpenInterface::OpenInterface

(

const char *

new_serial_port

)

Constructor.

By default the constructor will set the Roomba to read only the encoder counts (for odometry).

Parameters:

new_serial_port

Name of the serial port to open.

See also:

setSensorPackets()

Definition at line 49 of file OpenInterface.cpp.

irobot::OpenInterface::~OpenInterface

(

)

Destructor.

Definition at line 77 of file OpenInterface.cpp.

---

Member Function Documentation

int irobot::OpenInterface::brushes	(	unsigned char	side_brush,
		unsigned char	vacuum,
		unsigned char	main_brush,
		unsigned char	side_brush_clockwise,
		unsigned char	main_brush_dir
	)

Set brushes.

Set the various brushes motors.

Parameters:

side_brush	Side brush on (1) or off (0).
vacuum	Vacuum on (1) or off (0).
main_brush	Main brush on (1) or off (0).
side_brush_clockwise	Wether to rotate the side brush clockwise or not.
main_brush_dir	Main brush direction.

Returns:

0 if ok, -1 otherwise.

Definition at line 207 of file OpenInterface.cpp.

int irobot::OpenInterface::brushesPWM	(	char	main_brush,
		char	side_brush,
		char	vacuum
	)

Set brushes motors pwms.

Set the brushes motors pwms. This is very interesting. One could disconnect the motors and plug other actuators that could be controller over pwm on the Roomba.

Parameters:

main_brush	Main brush motor pwm.
side_brush	Side brush motor pwm.
vacuum	Vacuum motor pwm.

Returns:

0 if ok, -1 otherwise.

Definition at line 220 of file OpenInterface.cpp.

int irobot::OpenInterface::buffer2signed_int	(	unsigned char *	buffer,
		int	index
	)		[private]

Buffer to signed int.

Parsing helper function. Converts 2 bytes of data into a signed int value.

Parameters:

buffer	Data buffer.
index	Position in the buffer where the value is.

See also:

buffer2unsigned_int()

Returns:

A signed int value.

Definition at line 1233 of file OpenInterface.cpp.

int irobot::OpenInterface::buffer2unsigned_int	(	unsigned char *	buffer,
		int	index
	)		[private]

Buffer to unsigned int.

Parsing helper function. Converts 2 bytes of data into an unsigned int value.

Parameters:

buffer	Data buffer.
index	Position in the buffer where the value is.

See also:

buffer2signed_int()

Returns:

An unsigned int value.

Definition at line 1243 of file OpenInterface.cpp.

void irobot::OpenInterface::calculateOdometry

(

)

Calculate Roomba odometry. Call after reading encoder pulses.

Definition at line 1256 of file OpenInterface.cpp.

int irobot::OpenInterface::clean

(

)

Set the Roomba in cleaning mode. Returns the OImode to safe.

Definition at line 1288 of file OpenInterface.cpp.

int irobot::OpenInterface::closeSerialPort

(

)

Close the serial port.

Definition at line 129 of file OpenInterface.cpp.

int irobot::OpenInterface::drive	(	double	linear_speed,
		double	angular_speed
	)

Drive.

Send velocity commands to Roomba.

Parameters:

linear_speed	Linear speed.
angular_speed	Angular speed.

Returns:

0 if ok, -1 otherwise.

Definition at line 162 of file OpenInterface.cpp.

int irobot::OpenInterface::driveDirect	(	int	left_speed,
		int	right_speed
	)

Drive direct.

Send velocity commands to Roomba.

Parameters:

left_speed	Left wheel speed.
right_speed	Right wheel speed.

Returns:

0 if ok, -1 otherwise.

Definition at line 173 of file OpenInterface.cpp.

int irobot::OpenInterface::drivePWM	(	int	left_pwm,
		int	right_pwm
	)

Drive PWM.

Set the motors pwms. NOT IMPLEMENTED

Parameters:

left_pwm	Left wheel motor pwm.
right_pwm	Right wheel motor pwm.

Returns:

0 if ok, -1 otherwise.

Definition at line 198 of file OpenInterface.cpp.

int irobot::OpenInterface::getSensorPackets

(

int

timeout

)

Read sensor packets.

Requested the defined sensor packets from the Roomba. If you need odometry and you requested encoder data you need to call calculateOdometry() afterwords.

Parameters:

timeout

Timeout in milliseconds.

See also:

calculateOdometry()

Returns:

0 if ok, -1 otherwise.

Definition at line 259 of file OpenInterface.cpp.

int irobot::OpenInterface::goDock

(

)

Sends the Roomba to the dock. Returns the OImode to safe.

Definition at line 1312 of file OpenInterface.cpp.

int irobot::OpenInterface::max

(

)

Set the Roomba in max cleaning mode. Returns the OImode to safe.

Definition at line 1296 of file OpenInterface.cpp.

int irobot::OpenInterface::openSerialPort

(

bool

full_control

)

Open the serial port.

Parameters:

full_control

Whether to set the Roomba on OImode full or not.

Definition at line 86 of file OpenInterface.cpp.

int irobot::OpenInterface::parseAngle	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 913 of file OpenInterface.cpp.

int irobot::OpenInterface::parseBatteryCapacity	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 964 of file OpenInterface.cpp.

int irobot::OpenInterface::parseBatteryCharge	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 956 of file OpenInterface.cpp.

int irobot::OpenInterface::parseBumpersAndWheeldrops	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 809 of file OpenInterface.cpp.

int irobot::OpenInterface::parseButtons	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 897 of file OpenInterface.cpp.

int irobot::OpenInterface::parseChargingSource	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1012 of file OpenInterface.cpp.

int irobot::OpenInterface::parseChargingState	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 921 of file OpenInterface.cpp.

int irobot::OpenInterface::parseCurrent	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 940 of file OpenInterface.cpp.

int irobot::OpenInterface::parseDirtDetector	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 881 of file OpenInterface.cpp.

int irobot::OpenInterface::parseDistance	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 905 of file OpenInterface.cpp.

int irobot::OpenInterface::parseFontRightCliffSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 996 of file OpenInterface.cpp.

int irobot::OpenInterface::parseFrontLeftCliff	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 836 of file OpenInterface.cpp.

int irobot::OpenInterface::parseFrontLeftCliffSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 988 of file OpenInterface.cpp.

int irobot::OpenInterface::parseFrontRightCliff	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 844 of file OpenInterface.cpp.

int irobot::OpenInterface::parseIrCharLeft	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1177 of file OpenInterface.cpp.

int irobot::OpenInterface::parseIrCharRight	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1185 of file OpenInterface.cpp.

int irobot::OpenInterface::parseIrOmniChar	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 889 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLeftCliff	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 828 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLeftCliffSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 980 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLeftEncoderCounts	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1093 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLeftMotorCurrent	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1193 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLightBumper	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1116 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLightBumperCenterLeftSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1145 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLightBumperCenterRightSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1153 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLightBumperFrontLeftSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1137 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLightBumperFrontRightSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1161 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLightBumperLeftSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1129 of file OpenInterface.cpp.

int irobot::OpenInterface::parseLightBumperRightSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1169 of file OpenInterface.cpp.

int irobot::OpenInterface::parseMainBrushMotorCurrent	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1209 of file OpenInterface.cpp.

int irobot::OpenInterface::parseNumberOfStreamPackets	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1040 of file OpenInterface.cpp.

int irobot::OpenInterface::parseOiMode	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1021 of file OpenInterface.cpp.

int irobot::OpenInterface::parseOvercurrents	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 868 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRequestedLeftVelocity	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1064 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRequestedRadius	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1052 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRequestedRightVelocity	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1058 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRequestedVelocity	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1046 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRightCliff	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 852 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRightCliffSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1004 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRightEncoderCounts	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1070 of file OpenInterface.cpp.

int irobot::OpenInterface::parseRightMotorCurrent	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1201 of file OpenInterface.cpp.

int irobot::OpenInterface::parseSensorPackets	(	unsigned char *	buffer,
		size_t	buffer_length
	)		[private]

1 when the robot is going forward, 0 otherwise

Parse data

Data parsing function. Parses data comming from the Roomba.

Parameters:

buffer	Data to be parsed.
buffer_length	Size of the data buffer.

Returns:

0 if ok, -1 otherwise.

Definition at line 336 of file OpenInterface.cpp.

int irobot::OpenInterface::parseSideBrushMotorCurrent	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1217 of file OpenInterface.cpp.

int irobot::OpenInterface::parseSongNumber	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1028 of file OpenInterface.cpp.

int irobot::OpenInterface::parseSongPlaying	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1034 of file OpenInterface.cpp.

int irobot::OpenInterface::parseStasis	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 1225 of file OpenInterface.cpp.

int irobot::OpenInterface::parseTemperature	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 948 of file OpenInterface.cpp.

int irobot::OpenInterface::parseVirtualWall	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 860 of file OpenInterface.cpp.

int irobot::OpenInterface::parseVoltage	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 932 of file OpenInterface.cpp.

int irobot::OpenInterface::parseWall	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 820 of file OpenInterface.cpp.

int irobot::OpenInterface::parseWallSignal	(	unsigned char *	buffer,
		int	index
	)		[private]

Definition at line 972 of file OpenInterface.cpp.

int irobot::OpenInterface::playSong

(

unsigned char

song_number

)

Play song.

Play a song previously recorded on Roombas memory. You can only play songs stored with setSong().

Parameters:

song_number

Song id (from 0 to 15) so you can play it later.

See also:

setSong()

Returns:

0 if ok, -1 otherwise.

Definition at line 1344 of file OpenInterface.cpp.

int irobot::OpenInterface::powerDown

(

)

Power down the Roomba.

Definition at line 154 of file OpenInterface.cpp.

void irobot::OpenInterface::resetOdometry

(

)

Sends the Roomba to the dock. Returns the OImode to safe.

Definition at line 1270 of file OpenInterface.cpp.

int irobot::OpenInterface::sendOpcode

(

OI_Opcode

code

)

[private]

Send OP code.

Send an OP code to Roomba.

Parameters:

code	OP code to send.

Returns:

0 if ok, -1 otherwise.

Definition at line 143 of file OpenInterface.cpp.

int irobot::OpenInterface::setDigitLeds	(	unsigned char	digit3,
		unsigned char	digit2,
		unsigned char	digit1,
		unsigned char	digit0
	)

Set digit leds.

Set the digit leds on the Roomba, the ones on the clock. Digits are ordered from left to right on the robot, 3, 2, 1, 0.

Parameters:

digit3	Digit 3
digit2	Digit 2
digit1	Digit 1
digit0	Digit 0

Returns:

0 if ok, -1 otherwise.

Definition at line 1390 of file OpenInterface.cpp.

int irobot::OpenInterface::setLeds	(	unsigned char	check_robot,
		unsigned char	dock,
		unsigned char	spot,
		unsigned char	debris,
		unsigned char	power_color,
		unsigned char	power_intensity
	)

Set leds.

Set the leds state on the Roomba.

Parameters:

check_robot	Check robot led.
dock	Dock led.
spot	Spot led.
debris	Debris led.
power_color	Power led color, varies from green (yellow, orange) to red.
power_intensity	Power led intensity.

Returns:

0 if ok, -1 otherwise.

Definition at line 1359 of file OpenInterface.cpp.

void irobot::OpenInterface::setOdometry	(	double	new_x,
		double	new_y,
		double	new_yaw
	)

Definition at line 1278 of file OpenInterface.cpp.

int irobot::OpenInterface::setSchedulingLeds	(	unsigned char	sun,
		unsigned char	mon,
		unsigned char	tue,
		unsigned char	wed,
		unsigned char	thu,
		unsigned char	fri,
		unsigned char	sat,
		unsigned char	colon,
		unsigned char	pm,
		unsigned char	am,
		unsigned char	clock,
		unsigned char	schedule
	)

Set scheduling leds.

Set the leds state on the Roomba.

Parameters:

sun	Sunday, 1 on, 0 off.
mon	Monday, 1 on, 0 off.
tue	Tuesday, 1 on, 0 off.
wed	You get the idea...
thu	...
fri	Boooooring!
sat	Saturday, pfew!
colon	Colon on the clock.
pm	PM.
am	AM.
clock	Clock.
schedule	Schedule.

Returns:

0 if ok, -1 otherwise.

Definition at line 1375 of file OpenInterface.cpp.

int irobot::OpenInterface::setSensorPackets	(	OI_Packet_ID *	new_sensor_packets,
		int	new_num_of_packets,
		size_t	new_buffer_size
	)

Set sensor packets.

Set the sensor packets one wishes to read from the roomba. By default the constructor will set the Roomba to read only the encoder counts (for odometry).

Parameters:

new_sensor_packets	Array of sensor packets to read.
new_num_of_packets	Number of sensor packets in the array.
new_buffer_size	Size of the resulting sensor data reply.

Returns:

0 if ok, -1 otherwise.

Definition at line 236 of file OpenInterface.cpp.

int irobot::OpenInterface::setSong	(	unsigned char	song_number,
		unsigned char	song_length,
		unsigned char *	notes,
		unsigned char *	note_lengths
	)

Set song.

Record a song on Roombas memory. Songs can be played with playSong().

Parameters:

song_number	Song id (from 0 to 15) so you can play it later.
song_length	Number of notes in the song.
notes	Array of notes.
note_lengths	Array of notes length.

See also:

playSong()

Returns:

0 if ok, -1 otherwise.

Definition at line 1320 of file OpenInterface.cpp.

int irobot::OpenInterface::spot

(

)

Set the Roomba in spot cleaning mode. Returns the OImode to safe.

Definition at line 1304 of file OpenInterface.cpp.

int irobot::OpenInterface::startOI

(

bool

full_control

)

[private]

Start OI.

Start the OI, change to roomba to a OImode that allows control.

Parameters:

full_control

Whether to set the Roomba on OImode full or not.

Returns:

0 if ok, -1 otherwise.

Definition at line 99 of file OpenInterface.cpp.

int irobot::OpenInterface::startStream

(

)

Start stream. NOT TESTED.

Definition at line 309 of file OpenInterface.cpp.

int irobot::OpenInterface::stopStream

(

)

Stom stream. NOT TESTED.

Definition at line 321 of file OpenInterface.cpp.

int irobot::OpenInterface::streamSensorPackets

(

)

Stream sensor packets. NOT TESTED.

Definition at line 284 of file OpenInterface.cpp.

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Member Data Documentation

int irobot::OpenInterface::angle_ [private]

Amount of angle turned since last reading. Not being used, poor resolution.

Definition at line 660 of file OpenInterface.h.

bool irobot::OpenInterface::bumper_[2]

Cliff sensors. Indexes: LEFT FRONT_LEFT FRONT_RIGHT RIGHT.

Definition at line 509 of file OpenInterface.h.

bool irobot::OpenInterface::buttons_[8]

IR characters received. Indexes: OMNI LEFT RIGHT.

Definition at line 517 of file OpenInterface.h.

float irobot::OpenInterface::capacity_

Battery charge in Ah.

Definition at line 531 of file OpenInterface.h.

float irobot::OpenInterface::charge_

Battery temperature in C degrees.

Definition at line 530 of file OpenInterface.h.

unsigned char irobot::OpenInterface::charging_state_

Motor overcurrent. Indexes: LEFT RIGHT MAIN_BRUSH SIDE_BRUSH.

Definition at line 524 of file OpenInterface.h.

bool irobot::OpenInterface::cliff_[4]

Virtual wall detected.

Definition at line 508 of file OpenInterface.h.

int irobot::OpenInterface::cliff_signal_[4]

Wall signal.

Definition at line 513 of file OpenInterface.h.

float irobot::OpenInterface::current_

Battery voltage in volts.

Definition at line 528 of file OpenInterface.h.

unsigned char irobot::OpenInterface::dirt_detect_

Buttons. Indexes: BUTTON_CLOCK BUTTON_SCHEDULE BUTTON_DAY BUTTON_HOUR BUTTON_MINUTE BUTTON_DOCK BUTTON_SPOT BUTTON_CLEAN.

Definition at line 519 of file OpenInterface.h.

int irobot::OpenInterface::distance_ [private]

Amount of distance travelled since last reading. Not being used, poor resolution.

Definition at line 658 of file OpenInterface.h.

bool irobot::OpenInterface::dock_

Whether the Roomba is connected to the power cord or not.

Definition at line 526 of file OpenInterface.h.

int irobot::OpenInterface::encoder_counts_[2] [private]

Delta encoder counts.

Definition at line 662 of file OpenInterface.h.

bool irobot::OpenInterface::ir_bumper_[6]

Bumper sensors. Indexes: LEFT RIGHT.

Definition at line 510 of file OpenInterface.h.

int irobot::OpenInterface::ir_bumper_signal_[6]

CLiff sensors signal. Indexes: LEFT FRONT_LEFT FRONT_RIGHT RIGHT.

Definition at line 514 of file OpenInterface.h.

unsigned char irobot::OpenInterface::ir_char_[3]

IR bumper sensors signal. Indexes: LEFT FRONT_LEFT CENTER_LEFT CENTER_RIGHT FRONT_RIGHT RIGHT.

Definition at line 515 of file OpenInterface.h.

uint16_t irobot::OpenInterface::last_encoder_counts_[2] [private]

Last encoder counts reading. For odometry calculation.

Definition at line 664 of file OpenInterface.h.

int irobot::OpenInterface::motor_current_[4]

Dirt detected.

Definition at line 521 of file OpenInterface.h.

int irobot::OpenInterface::num_of_packets_ [private]

Number of packets.

Definition at line 651 of file OpenInterface.h.

double irobot::OpenInterface::odometry_x_

Roomba odometry x.

Definition at line 500 of file OpenInterface.h.

double irobot::OpenInterface::odometry_y_

Roomba odometry y.

Definition at line 502 of file OpenInterface.h.

double irobot::OpenInterface::odometry_yaw_

Roomba odometry yaw.

Definition at line 504 of file OpenInterface.h.

unsigned char irobot::OpenInterface::OImode_

Current operation mode, one of ROOMBA_MODE_'s.

Definition at line 493 of file OpenInterface.h.

bool irobot::OpenInterface::overcurrent_[4]

Motor current. Indexes: LEFT RIGHT MAIN_BRUSH SIDE_BRUSH.

Definition at line 522 of file OpenInterface.h.

size_t irobot::OpenInterface::packets_size_ [private]

Total size of packets.

Definition at line 655 of file OpenInterface.h.

std::string irobot::OpenInterface::port_name_ [private]

Serial port to which the robot is connected.

Definition at line 643 of file OpenInterface.h.

bool irobot::OpenInterface::power_cord_

One of OI_CHARGING_'s.

Definition at line 525 of file OpenInterface.h.

OI_Packet_ID* irobot::OpenInterface::sensor_packets_ [private]

Array of packets.

Definition at line 653 of file OpenInterface.h.

cereal::CerealPort* irobot::OpenInterface::serial_port_ [private]

Cereal port object.

Definition at line 645 of file OpenInterface.h.

int irobot::OpenInterface::stasis_

Battery capacity in Ah.

Definition at line 533 of file OpenInterface.h.

bool irobot::OpenInterface::stream_defined_ [private]

Stream variable. NOT TESTED.

Definition at line 648 of file OpenInterface.h.

char irobot::OpenInterface::temperature_

Battery current in amps.

Definition at line 529 of file OpenInterface.h.

bool irobot::OpenInterface::virtual_wall_

Wall detected.

Definition at line 507 of file OpenInterface.h.

float irobot::OpenInterface::voltage_

Whether the Roomba is docked or not.

Definition at line 527 of file OpenInterface.h.

bool irobot::OpenInterface::wall_

Definition at line 506 of file OpenInterface.h.

int irobot::OpenInterface::wall_signal_

Wheel drop sensors: Indexes: LEFT RIGHT.

Definition at line 512 of file OpenInterface.h.

bool irobot::OpenInterface::wheel_drop_[2]

IR bumper sensors. Indexes: LEFT FRONT_LEFT CENTER_LEFT CENTER_RIGHT FRONT_RIGHT RIGHT.

Definition at line 511 of file OpenInterface.h.

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

• OpenInterface.h
• OpenInterface.cpp