roomba.h File Reference

#include <stdint.h>

Go to the source code of this file.

Macros
#define	START   128
#define	CONTROL_MODE   130
#define	SAFE_MODE   131
#define	FULL_MODE   132
#define	POWER   133
#define	DRIVE   137
#define	SONG   140
#define	PLAY   141
#define	SENSORS   142
#define	QUERYLIST   149
#define	SENSOR_ALL_DATA   0
#define	SENSOR_SUB_1   1
#define	SENSOR_SUB_2   2
#define	SENSOR_SUB_3   3
#define	ROOMBA_SPEED   250
#define	ROOMBA_TURN   150
#define	TURN_RADIUS   400
#define	AUTOTURN_RADIUS   350
#define	DRIVE_STRAIGHT   32768
#define	IN_PLACE_CW   -1
#define	IN_PLACE_CCW   1

Functions
void	Roomba_Init (void)
void	Roomba_Drive (int16_t velocity, int16_t radius)
void	Roomba_Play (uint8_t song)
void	Roomba_Sensors (uint8_t packet_id)
void	Roomba_QueryList (uint8_t packet1, uint8_t packet2)
void	Roomba_Song (uint8_t n)

Macro Definition Documentation

#define AUTOTURN_RADIUS   350

Definition at line 39 of file roomba.h.

#define CONTROL_MODE   130

Definition at line 15 of file roomba.h.

#define DRIVE   137

Definition at line 19 of file roomba.h.

#define DRIVE_STRAIGHT   32768

Definition at line 40 of file roomba.h.

#define FULL_MODE   132

Definition at line 17 of file roomba.h.

#define IN_PLACE_CCW   1

Definition at line 42 of file roomba.h.

#define IN_PLACE_CW   -1

Definition at line 41 of file roomba.h.

#define PLAY   141

Definition at line 21 of file roomba.h.

#define POWER   133

Definition at line 18 of file roomba.h.

#define QUERYLIST   149

Definition at line 23 of file roomba.h.

#define ROOMBA_SPEED   250

Data special cases

Definition at line 36 of file roomba.h.

#define ROOMBA_TURN   150

Definition at line 37 of file roomba.h.

#define SAFE_MODE   131

Definition at line 16 of file roomba.h.

#define SENSOR_ALL_DATA   0

Sensors

Definition at line 28 of file roomba.h.

#define SENSOR_SUB_1   1

Definition at line 29 of file roomba.h.

#define SENSOR_SUB_2   2

Definition at line 30 of file roomba.h.

#define SENSOR_SUB_3   3

Definition at line 31 of file roomba.h.

#define SENSORS   142

Definition at line 22 of file roomba.h.

#define SONG   140

Definition at line 20 of file roomba.h.

#define START   128

Roomba serial opcodes

Definition at line 14 of file roomba.h.

#define TURN_RADIUS   400

Definition at line 38 of file roomba.h.

Function Documentation

void Roomba_Drive	(	int16_t	velocity,
		int16_t	radius
	)

Tells the roomba to drive with the given velocity and radius

Definition at line 50 of file roomba.c.

void Roomba_Init

(

void

)

Wakes Roomba from sleep and sets it to safe mode

Definition at line 13 of file roomba.c.

void Roomba_Play

(

uint8_t

song

)

Plays the song corresponding to a song # from 0-4

Definition at line 61 of file roomba.c.

void Roomba_QueryList	(	uint8_t	packet1,
		uint8_t	packet2
	)

Requests multiple packets from the Roomba

Definition at line 77 of file roomba.c.

void Roomba_Sensors

(

uint8_t

packet_id

)

Requests a packet from the Roomba about a specific sensor

Definition at line 69 of file roomba.c.

void Roomba_Song

(

uint8_t

n

)

Loads a song onto the Roomba

Definition at line 87 of file roomba.c.