Class Create

Class Documentation

class Create

Public Functions

Create(RobotModel model = RobotModel::CREATE_2, bool install_signal_handler = true)

Default constructor.

Calling this constructor Does not attempt to establish a serial connection to the robot.

Parameters:

  • model – the type of the robot. See RobotModel to determine the value for your robot.

  • install_signal_handler – if true, then register a signal handler to disconnect from the robot on SIGINT or SIGTERM.

Create(const std::string &port, const int &baud, RobotModel model = RobotModel::CREATE_2, bool install_signal_handler = true)

Attempts to establish serial connection to Create.

Parameters:

  • port – of your computer that is connected to Create.

  • baud – rate to communicate with Create. Typically, 115200 for Create 2 and 57600 for Create 1.

  • model – type of robot. See RobotModel to determine the value for your robot.

  • install_signal_handler – if true, then register a signal handler to disconnect from the robot on SIGINT or SIGTERM.

~Create()

Attempts to disconnect from serial.

bool connect(const std::string &port, const int &baud)

Make a serial connection to Create.

This is the first thing that should be done after instantiated this class.

Returns:

true if a successful connection is established, false otherwise.

inline bool connected() const

Check if serial connection is active.

Returns:

true if successfully connected, false otherwise.

void disconnect()

Disconnect from serial.

bool setMode(const create::CreateMode &mode)

Change Create mode.

Parameters:

mode – to change Create to.

Returns:

true if successful, false otherwise

bool clean(const create::CleanMode &mode = CLEAN_DEFAULT)

Starts a cleaning mode. Changes mode to MODE_PASSIVE.

Returns:

true if successful, false otherwise

bool dock() const

Starts the docking behaviour. Changes mode to MODE_PASSIVE.

Returns:

true if successful, false otherwise

bool setDate(const create::DayOfWeek &day, const uint8_t &hour, const uint8_t &min) const

Sets the internal clock of Create.

Parameters:

  • day – in range [0, 6]

  • hour – in range [0, 23]

  • min – in range [0, 59]

Returns:

true if successful, false otherwise

bool driveRadius(const float &velocity, const float &radius)

Set the average wheel velocity and turning radius of Create.

Parameters:

  • velocity – is in m/s bounded between [-0.5, 0.5]

  • radius – in meters. Special cases: drive straight = CREATE_2_STRAIGHT_RADIUS, turn in place counter-clockwise = CREATE_2_IN_PLACE_RADIUS, turn in place clockwise = -CREATE_2_IN_PLACE_RADIUS

Returns:

true if successful, false otherwise

bool driveWheels(const float &leftWheel, const float &rightWheel)

Set the velocities for the left and right wheels.

Parameters:

  • leftWheel – velocity in m/s.

  • rightWheel – veloctiy in m/s.

Returns:

true if successful, false otherwise

bool driveWheelsPwm(const float &leftWheel, const float &rightWheel)

Set the direct for the left and right wheels.

Parameters:

  • leftWheel – pwm in the range [-1, 1]

  • rightWheel – pwm in the range [-1, 1]

Returns:

true if successful, false otherwise

bool drive(const float &xVel, const float &angularVel)

Set the forward and angular velocity of Create.

Parameters:

  • xVel – in m/s

  • angularVel – in rads/s

Returns:

true if successful, false otherwise

bool setSideMotor(const float &power)

Set the power to the side brush motor.

Parameters:

power – is in the range [-1, 1]

Returns:

true if successful, false otherwise

bool setMainMotor(const float &power)

Set the power to the main brush motor.

Parameters:

power – is in the range [-1, 1]

Returns:

true if successful, false otherwise

bool setVacuumMotor(const float &power)

Set the power to the vacuum motor.

Parameters:

power – is in the range [0, 1]

Returns:

true if successful, false otherwise

bool setAllMotors(const float &mainPower, const float &sidePower, const float &vacuumPower)

Set the power of all motors.

Parameters:

  • mainPower – in the range [-1, 1]

  • sidePower – in the range [-1, 1]

  • vacuumPower – in the range [0, 1]

Returns:

true if successful, false otherwise

bool enableDebrisLED(const bool &enable)

Set the blue “debris” LED on/off.

Parameters:

enable –

Returns:

true if successful, false otherwise

bool enableSpotLED(const bool &enable)

Set the green “spot” LED on/off.

Parameters:

enable –

Returns:

true if successful, false otherwise

bool enableDockLED(const bool &enable)

Set the green “dock” LED on/off.

Parameters:

enable –

Returns:

true if successful, false otherwise

bool enableCheckRobotLED(const bool &enable)

Set the orange “check Create” LED on/off.

Parameters:

enable –

Returns:

true if successful, false otherwise

bool setPowerLED(const uint8_t &power, const uint8_t &intensity = 255)

Set the center power LED.

Parameters:

  • power – in range [0, 255] where 0 = green and 255 = red

  • intensity – in range [0, 255]

Returns:

true if successful, false otherwise

bool setDigits(const std::vector<bool> &segments) const

Set the four 7-segment display digits from left to right.

Todo:

This function is not yet implemented refer to https://github.com/AutonomyLab/libcreate/issues/7

Parameters:

segments – to enable (true) or disable (false). The size of segments should be less than 29. The ordering of segments is left to right, top to bottom for each digit:

Returns:

true if successful, false otherwise

bool setDigitsASCII(const uint8_t &digit1, const uint8_t &digit2, const uint8_t &digit3, const uint8_t &digit4) const

Set the four 7-segment display digits from left to right with ASCII codes. Any code out side the accepted ascii ranges results in blank display.

Parameters:

  • digit1 – is left most digit with ascii range [32, 126]

  • digit2 – is second to left digit with ascii range [32, 126]

  • digit3 – is second to right digit with ascii range [32, 126]

  • digit4 – is right most digit with ascii range [32, 126]

Returns:

true if successful, false otherwise

bool defineSong(const uint8_t &songNumber, const uint8_t &songLength, const uint8_t *notes, const float *durations) const

Defines a song from the provided notes and labels it with a song number.

Parameters:

  • songNumber – can be one of four possible song slots, [0, 4]

  • songLength – is the number of notes, maximum 16. length(notes) = length(durations) = songLength should be true.

  • notes – is a sequence of notes. Each note is in the range [31, 127]. Anything outside this range is considered a rest note.

  • durations – for each note in fractions of a second from the range [0, 4)

Returns:

true if successful, false otherwise

bool playSong(const uint8_t &songNumber) const

Play a previously created song. This command will not work if a song was not already defined with the specified song number.

Parameters:

songNumber – is one of four stored songs in the range [0, 4]

Returns:

true if successful, false otherwise

void setDtHistoryLength(const uint8_t &dtHistoryLength)

Set dtHistoryLength parameter. Used to configure the size of the buffer for calculating average time delta (dt). between onData calls, which in turn is used for velocity calculation.

Parameters:

dtHistoryLength – number of historical samples to use for calculating average dt.

bool isWheeldrop() const
Returns:

true if a left or right wheeldrop is detected, false otherwise.

bool isLeftWheeldrop() const
Returns:

true if a left wheeldrop is detected, false otherwise.

bool isRightWheeldrop() const
Returns:

true if a right wheeldrop is detected, false otherwise.

bool isLeftBumper() const
Returns:

true if left bumper is pressed, false otherwise.

bool isRightBumper() const
Returns:

true if right bumper is pressed, false otherwise.

bool isWall() const
Returns:

true if wall is seen to right of Create, false otherwise.

bool isCliff() const
Returns:

true if there are any cliff detections, false otherwise.

bool isCliffLeft() const
Returns:

true if the left sensor detects a cliff, false otherwise.

bool isCliffFrontLeft() const
Returns:

true if the front left sensor detects a cliff, false otherwise.

bool isCliffRight() const
Returns:

true if the right sensor detects a cliff, false otherwise.

bool isCliffFrontRight() const
Returns:

true if the front right sensor detects a cliff, false otherwise.

bool isVirtualWall() const
Returns:

true if there is a virtual wall signal is being received.

bool isWheelOvercurrent() const

Todo:

Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns:

true if drive motors are overcurrent.

bool isMainBrushOvercurrent() const

Todo:

Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns:

true if main brush motor is overcurrent.

bool isSideBrushOvercurrent() const

Todo:

Not implemented yet (https://github.com/AutonomyLab/libcreate/issues/8)

Returns:

true if side brush motor is overcurrent.

uint8_t getDirtDetect() const

Get level of the dirt detect sensor.

Returns:

value in range [0, 255]

uint8_t getIROmni() const

Get value of 8-bit IR character currently being received by omnidirectional sensor.

Returns:

value in range [0, 255]

uint8_t getIRLeft() const

Get value of 8-bit IR character currently being received by left sensor.

Returns:

value in range [0, 255]

uint8_t getIRRight() const

Get value of 8-bit IR character currently being received by right sensor.

Returns:

value in range [0, 255]

bool isCleanButtonPressed() const

Get state of ‘clean’ button (‘play’ button on Create 1).

Returns:

true if button is pressed, false otherwise.

bool isClockButtonPressed() const

Not supported by any firmware!

bool isScheduleButtonPressed() const

Not supported by any firmware!

bool isDayButtonPressed() const

Get state of ‘day’ button.

Returns:

true if button is pressed, false otherwise.

bool isHourButtonPressed() const

Get state of ‘hour’ button.

Returns:

true if button is pressed, false otherwise.

bool isMinButtonPressed() const

Get state of ‘min’ button.

Returns:

true if button is pressed, false otherwise.

bool isDockButtonPressed() const

Get state of ‘dock’ button (‘advance’ button on Create 1).

Returns:

true if button is pressed, false otherwise.

bool isSpotButtonPressed() const

Get state of ‘spot’ button.

Returns:

true if button is pressed, false otherwise.

float getVoltage() const

Get battery voltage.

Returns:

value in volts

float getCurrent() const

Get current flowing in/out of battery. A positive current implies Create is charging.

Returns:

value in amps

int8_t getTemperature() const

Get the temperature of battery.

Returns:

value in Celsius

float getBatteryCharge() const

Get battery’s remaining charge.

Returns:

value in amp-hours

float getBatteryCapacity() const

Get estimated battery charge capacity.

Returns:

in amp-hours

bool isLightBumperLeft() const
Returns:

true if farthest left light sensor detects an obstacle, false otherwise.

bool isLightBumperFrontLeft() const
Returns:

true if front left light sensor detects an obstacle, false otherwise.

bool isLightBumperCenterLeft() const
Returns:

true if center left light sensor detects an obstacle, false otherwise.

bool isLightBumperRight() const
Returns:

true if farthest right light sensor detects an obstacle, false otherwise.

bool isLightBumperFrontRight() const
Returns:

true if front right light sensor detects an obstacle, false otherwise.

bool isLightBumperCenterRight() const
Returns:

true if center right light sensor detects an obstacle, false otherwise.

uint16_t getLightSignalLeft() const

Get the signal strength from the left light sensor.

Returns:

value in range [0, 4095]

uint16_t getLightSignalFrontLeft() const

Get the signal strength from the front-left light sensor.

Returns:

value in range [0, 4095]

uint16_t getLightSignalCenterLeft() const

Get the signal strength from the center-left light sensor.

Returns:

value in range [0, 4095]

uint16_t getLightSignalRight() const

Get the signal strength from the right light sensor.

Returns:

value in range [0, 4095]

uint16_t getLightSignalFrontRight() const

Get the signal strength from the front-right light sensor.

Returns:

value in range [0, 4095]

uint16_t getLightSignalCenterRight() const

Get the signal strength from the center-right light sensor.

Returns:

value in range [0, 4095]

bool isMovingForward() const
Returns:

true if Create is moving forward, false otherwise.

float getLeftWheelDistance() const

Get the total distance the left wheel has moved.

Returns:

distance in meters.

float getRightWheelDistance() const

Get the total distance the right wheel has moved.

Returns:

distance in meters.

float getMeasuredLeftWheelVel() const

Get the measured velocity of the left wheel.

Returns:

velocity in m/s

float getMeasuredRightWheelVel() const

Get the measured velocity of the right wheel.

Returns:

velocity in m/s

float getRequestedLeftWheelVel() const

Get the requested velocity of the left wheel. This value is bounded at the maximum velocity of the robot model.

Returns:

requested velocity in m/s.

float getRequestedRightWheelVel() const

Get the requested velocity of the right wheel. This value is bounded at the maximum velocity of the robot model.

Returns:

requested velocity in m/s.

create::ChargingState getChargingState() const

Get the current charging state.

Returns:

charging state.

create::CreateMode getMode()

Get the current mode reported by Create.

Returns:

mode.

create::Pose getPose() const

Get the estimated pose of Create based on wheel encoders.

Returns:

pose (x-y position in meters and yaw angle in Radians)

create::Vel getVel() const

Get the estimated velocity of Create based on wheel encoders.

Returns:

velocity (x and y in m/s and angular velocity in Radians/s)

uint64_t getNumCorruptPackets() const

Get the number of corrupt serial packets since first connecting to Create. This value is ideally zero. If the number is consistently increasing then chances are some sensor information is not being updated.

Returns:

number of corrupt packets.

uint64_t getTotalPackets() const

Get the total number of serial packets received (including corrupt packets) since first connecting to Create.

Returns:

total number of serial packets.

void setModeReportWorkaround(const bool &enable)

Enable or disable the mode reporting workaround. Some Roomba 6xx robots incorrectly report the OI mode in their sensor streams. Enabling the workaround will cause libcreate to decrement the reported OI mode in the sensor stream by 1. See https://github.com/AutonomyLab/create_robot/issues/64.

bool getModeReportWorkaround() const
Returns:

true if the mode reporting workaround is enabled, false otherwise.

Protected Attributes

std::shared_ptr<create::Data> data
std::shared_ptr<create::Serial> serial