Fawkes API
Fawkes Development Version
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Roomba 500 series communication class. More...
#include "roomba_500.h"
Classes | |
struct | SensorPacketGroupAll |
Struct for packet group with everything (SENSPACK_GROUP_ALL). More... | |
Public Member Functions | |
Roomba500 (ConnectionType conntype, const char *device, unsigned int flags=0) | |
Constructor. More... | |
~Roomba500 () | |
Destructor. More... | |
void | open () |
Open serial port. More... | |
void | close () |
Close serial connection. More... | |
bool | is_connected () const |
Check if connection has been established. More... | |
ConnectionType | get_connection_type () const |
Get connection type. More... | |
const char * | get_device () const |
Get device string. More... | |
Mode | get_mode () const |
Get current mode. More... | |
bool | is_controlled () const |
Check if robot is being controlled. More... | |
void | set_mode (Mode mode) |
Set control mode. More... | |
void | clean () |
Start normal cleaning operation. More... | |
void | clean_spot () |
Start spot cleaning operation. More... | |
void | seek_dock () |
Seek for the home base and dock. More... | |
void | power_down () |
Powers down the Roomba. More... | |
void | stop () |
Stop moption of the Roomba. More... | |
void | drive_straight (short int velo_mm_per_sec) |
Drive Roomba straight. More... | |
void | drive_turn (TurnDirection direction) |
Turn robot on the spot. More... | |
void | drive_arc (short int velo_mm_per_sec, short int radius_mm) |
Drive Roomba on an arc. More... | |
void | drive (short int velocity_mm_per_sec, short int radius_mm) |
Drive Roomba. More... | |
void | drive_direct (short int left_mm_per_sec, short int right_mm_per_sec) |
Directly control wheel velocities. More... | |
void | drive_pwm (short int left_wheel_pwm, short int right_wheel_pwm) |
Directly control wheel velocities via PWM. More... | |
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). More... | |
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. More... | |
void | set_digit_leds (const char digits[4]) |
Set digit LEDs. More... | |
void | enable_sensors () |
Enable sensor data stream. More... | |
void | disable_sensors () |
Disable sensor data stream. More... | |
bool | is_data_available () |
Check if data is available. More... | |
void | read_sensors () |
Read sensor values. More... | |
void | query_sensors () |
Query sensor once. More... | |
bool | has_sensor_packet () const |
Check if sensor packet is availabe. More... | |
const SensorPacketGroupAll | get_sensor_packet () const |
Get latest sensor packet. More... | |
void | play_fanfare () |
Play a simple fanfare. More... | |
Static Public Member Functions | |
static unsigned short int | get_packet_size (SensorPacketID packet) |
Get size of packet. More... | |
Static Public Attributes | |
static const unsigned char | BUTTON_CLEAN |
Cleaning button. More... | |
static const unsigned char | BUTTON_SPOT |
Spot cleaning button. More... | |
static const unsigned char | BUTTON_DOCK |
Dock button. More... | |
static const unsigned char | BUTTON_MINUTE |
Minute button. More... | |
static const unsigned char | BUTTON_HOUR |
Hour button. More... | |
static const unsigned char | BUTTON_DAY |
Day button. More... | |
static const unsigned char | BUTTON_SCHEDULE |
Schedule button. More... | |
static const unsigned char | BUTTON_CLOCK |
Clock button. More... | |
static const unsigned char | WHEEL_DROP_LEFT |
Left wheel drop bit. More... | |
static const unsigned char | WHEEL_DROP_RIGHT |
Right wheel drop bit. More... | |
static const unsigned char | BUMP_LEFT |
Left bumper bit. More... | |
static const unsigned char | BUMP_RIGHT |
Right bumper bit. More... | |
static const unsigned char | OVERCURRENT_WHEEL_LEFT |
Left wheel bit. More... | |
static const unsigned char | OVERCURRENT_WHEEL_RIGHT |
Right wheel bit. More... | |
static const unsigned char | OVERCURRENT_MAIN_BRUSH |
Main brush bit. More... | |
static const unsigned char | OVERCURRENT_SIDE_BRUSH |
Side brush bit. More... | |
static const unsigned char | CHARGING_SOURCE_HOME_BASE |
Docking station. More... | |
static const unsigned char | CHARGING_SOURCE_INTERNAL |
Internal socket. More... | |
static const unsigned char | BUMPER_LEFT |
Left bumper. More... | |
static const unsigned char | BUMPER_FRONT_LEFT |
Front left bumper. More... | |
static const unsigned char | BUMPER_CENTER_LEFT |
Center left bumper. More... | |
static const unsigned char | BUMPER_CENTER_RIGHT |
Center right bumper. More... | |
static const unsigned char | BUMPER_FRONT_RIGHT |
Front right bumper. More... | |
static const unsigned char | BUMPER_RIGHT |
Right bumper. More... | |
static const unsigned char | LED_DEBRIS |
Debris LED bit. More... | |
static const unsigned char | LED_SPOT |
Spot LED bit. More... | |
static const unsigned char | LED_DOCK |
Dock LED bit. More... | |
static const unsigned char | LED_CHECK_ROBOT |
Check robot LED bit. More... | |
static const unsigned char | WEEKDAY_LED_SUN |
Sunday. More... | |
static const unsigned char | WEEKDAY_LED_MON |
Monday. More... | |
static const unsigned char | WEEKDAY_LED_TUE |
Tuesday. More... | |
static const unsigned char | WEEKDAY_LED_WED |
Wednesday. More... | |
static const unsigned char | WEEKDAY_LED_THU |
Thursday. More... | |
static const unsigned char | WEEKDAY_LED_FRI |
Friday. More... | |
static const unsigned char | WEEKDAY_LED_SAT |
Saturday. More... | |
static const unsigned char | SCHEDULING_LED_COLON |
Colon LED bit. More... | |
static const unsigned char | SCHEDULING_LED_PM |
PM LED bit. More... | |
static const unsigned char | SCHEDULING_LED_AM |
AM LED bit. More... | |
static const unsigned char | SCHEDULING_LED_CLOCK |
Clock LED bit. More... | |
static const unsigned char | SCHEDULING_LED_SCHEDULE |
Schedule LED bit. More... | |
static const unsigned char | DIGIT_LED_NORTH |
Top segment LED. More... | |
static const unsigned char | DIGIT_LED_NORTH_WEST |
Top left segment LED. More... | |
static const unsigned char | DIGIT_LED_NORTH_EAST |
Top right segment LED. More... | |
static const unsigned char | DIGIT_LED_CENTER |
Center segment LED. More... | |
static const unsigned char | DIGIT_LED_SOUTH_WEST |
Bottom left segment. More... | |
static const unsigned char | DIGIT_LED_SOUTH_EAST |
Bottom right segment. More... | |
static const unsigned char | DIGIT_LED_SOUTH |
Bottom segment LED. More... | |
static const unsigned char | MOTOR_SIDE_BRUSH |
Side brush motor bit. More... | |
static const unsigned char | MOTOR_VACUUM |
Vacuum motor bit. More... | |
static const unsigned char | MOTOR_MAIN_BRUSHES |
Main brush motor bit. More... | |
static const unsigned char | MOTOR_SIDE_BRUSH_BACKWARD |
Side backward bit. More... | |
static const unsigned char | MOTOR_MAIN_BRUSHES_BACKWARD |
Main backward bit. More... | |
static const unsigned char | CHARGER_HOME_BASE |
Home base charger bit. More... | |
static const unsigned char | CHARGER_INTERNAL |
Internal charger bit. More... | |
static const float | DIAMETER |
Robot diameter. More... | |
static const float | BUMPER_X_OFFSET |
X Offset of bumper. More... | |
static const float | AXLE_LENGTH |
Axle length. More... | |
static const short int | MAX_LIN_VEL_MM_S |
Maximum linear velocity. More... | |
static const short int | MAX_RADIUS_MM |
Maximum drive radius. More... | |
static const short int | MAX_PWM |
Maximum PWM value for wheels. More... | |
static const unsigned short int | MAX_ENCODER_COUNT |
Maximum encoder count. More... | |
static const unsigned short int | STREAM_INTERVAL_MS |
Time in ms between. More... | |
static const unsigned short int | MODE_CHANGE_WAIT_MS |
Time in ms to wait after mode changes. More... | |
static const unsigned char | CHECKSUM_SIZE |
Checksum byte size. More... | |
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/.
Definition at line 34 of file roomba_500.h.
Charging state.
Definition at line 162 of file roomba_500.h.
Connection flags.
These flags allow to influence the connection creation and operation.
Enumerator | |
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FLAG_FIREFLY_FASTMODE | Enable fast mode, assume FireFly RooTooth. |
Definition at line 45 of file roomba_500.h.
Connection type.
Enumerator | |
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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.
Infrared character values.
Definition at line 172 of file roomba_500.h.
enum Roomba500::Mode |
Roomba 500 operation mode.
Enumerator | |
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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.
Definition at line 50 of file roomba_500.h.
Days for scheduler.
Enumerator | |
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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.
Roomba 500 sensor package IDs.
Definition at line 82 of file roomba_500.h.
Sensor stream state.
Enumerator | |
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STREAM_ENABLE | Stream enabled. |
STREAM_DISABLE | Stream disabled. |
Definition at line 156 of file roomba_500.h.
Turning direction.
Enumerator | |
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TURN_CLOCKWISE | Clockwise turning. |
TURN_COUNTER_CLOCKWISE | Counter-Clockwise turning. |
Definition at line 229 of file roomba_500.h.
Roomba500::Roomba500 | ( | Roomba500::ConnectionType | conntype, |
const char * | device, | ||
unsigned int | flags = 0 |
||
) |
Constructor.
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.
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.
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.
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.
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.
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.
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.
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.
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Get device string.
Definition at line 453 of file roomba_500.h.
Referenced by Roomba500Thread::init().
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Get current mode.
Definition at line 457 of file roomba_500.h.
Referenced by Roomba500Thread::loop().
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Get size of packet.
packet | ID of packet to query size for |
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.
Definition at line 807 of file roomba_500.cpp.
Referenced by Roomba500Thread::write_blackboard().
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Check if sensor packet is availabe.
Definition at line 491 of file roomba_500.h.
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Check if connection has been established.
Definition at line 446 of file roomba_500.h.
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Check if robot is being controlled.
Definition at line 461 of file roomba_500.h.
Referenced by Roomba500Thread::init(), Roomba500Thread::loop(), and Roomba500Thread::write_blackboard().
bool Roomba500::is_data_available | ( | ) |
Check if data is available.
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 | ( | ) |
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.
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.
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(), Roomba500Thread::loop(), and Roomba500Thread::write_blackboard().
void Roomba500::set_mode | ( | Roomba500::Mode | mode | ) |
Set control mode.
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(). |
Exception | thrown if an invalid mode is passed |
Definition at line 824 of file roomba_500.cpp.
Referenced by Roomba500Thread::finalize(), Roomba500Thread::init(), Roomba500Thread::loop(), and Roomba500Thread::write_blackboard().
void Roomba500::set_motors | ( | bool | main = true , |
bool | side = true , |
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bool | vacuum = true , |
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bool | main_backward = false , |
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bool | side_backward = false |
||
) |
Set motor states (brushes and vacuum).
Available only in safe or full mode.
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().
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Axle length.
Definition at line 365 of file roomba_500.h.
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Left bumper bit.
Definition at line 245 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Right bumper bit.
Definition at line 246 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Center left bumper.
Definition at line 258 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Center right bumper.
Definition at line 259 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Front left bumper.
Definition at line 257 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Front right bumper.
Definition at line 260 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Left bumper.
Definition at line 256 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Right bumper.
Definition at line 261 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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X Offset of bumper.
Definition at line 364 of file roomba_500.h.
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Cleaning button.
Definition at line 234 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Clock button.
Definition at line 241 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Day button.
Definition at line 239 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Dock button.
Definition at line 236 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Hour button.
Definition at line 238 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Minute button.
Definition at line 237 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Schedule button.
Definition at line 240 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Spot cleaning button.
Definition at line 235 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Home base charger bit.
Definition at line 296 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Internal charger bit.
Definition at line 297 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Docking station.
Definition at line 253 of file roomba_500.h.
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Internal socket.
Definition at line 254 of file roomba_500.h.
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Checksum byte size.
Definition at line 377 of file roomba_500.h.
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Robot diameter.
Definition at line 363 of file roomba_500.h.
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Center segment LED.
Definition at line 285 of file roomba_500.h.
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Top segment LED.
Definition at line 282 of file roomba_500.h.
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Top right segment LED.
Definition at line 284 of file roomba_500.h.
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Top left segment LED.
Definition at line 283 of file roomba_500.h.
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Bottom segment LED.
Definition at line 288 of file roomba_500.h.
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Bottom right segment.
Definition at line 287 of file roomba_500.h.
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Bottom left segment.
Definition at line 286 of file roomba_500.h.
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Check robot LED bit.
Definition at line 266 of file roomba_500.h.
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Debris LED bit.
Definition at line 263 of file roomba_500.h.
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Dock LED bit.
Definition at line 265 of file roomba_500.h.
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Spot LED bit.
Definition at line 264 of file roomba_500.h.
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Maximum encoder count.
Definition at line 371 of file roomba_500.h.
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Maximum linear velocity.
Definition at line 367 of file roomba_500.h.
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Maximum PWM value for wheels.
Definition at line 370 of file roomba_500.h.
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Maximum drive radius.
Definition at line 368 of file roomba_500.h.
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Time in ms to wait after mode changes.
Definition at line 374 of file roomba_500.h.
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Main brush motor bit.
Definition at line 292 of file roomba_500.h.
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Main backward bit.
Definition at line 294 of file roomba_500.h.
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Side brush motor bit.
Definition at line 290 of file roomba_500.h.
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Side backward bit.
Definition at line 293 of file roomba_500.h.
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Vacuum motor bit.
Definition at line 291 of file roomba_500.h.
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Main brush bit.
Definition at line 250 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Side brush bit.
Definition at line 251 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Left wheel bit.
Definition at line 248 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Right wheel bit.
Definition at line 249 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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AM LED bit.
Definition at line 278 of file roomba_500.h.
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Clock LED bit.
Definition at line 279 of file roomba_500.h.
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Colon LED bit.
Definition at line 276 of file roomba_500.h.
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PM LED bit.
Definition at line 277 of file roomba_500.h.
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Schedule LED bit.
Definition at line 280 of file roomba_500.h.
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Time in ms between.
streamed sensor packets.
Definition at line 372 of file roomba_500.h.
Referenced by Roomba500Thread::WorkerThread::WorkerThread().
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Friday.
Definition at line 273 of file roomba_500.h.
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Monday.
Definition at line 269 of file roomba_500.h.
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Saturday.
Definition at line 274 of file roomba_500.h.
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Sunday.
Definition at line 268 of file roomba_500.h.
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Thursday.
Definition at line 272 of file roomba_500.h.
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Tuesday.
Definition at line 270 of file roomba_500.h.
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Wednesday.
Definition at line 271 of file roomba_500.h.
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Left wheel drop bit.
Definition at line 243 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().
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Right wheel drop bit.
Definition at line 244 of file roomba_500.h.
Referenced by Roomba500Thread::write_blackboard().