Mysensor-ing a Roomba vacuum cleaner.
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Hi,
I had started to analyze the communication protocol and the project. I found this site very useful. The problem is the sizing. I'd like to keep everything hided so a very small circuit is requested.@mortommy it's quite easy: Roomba has a serial (there is 7-pin mini DIN socket under rubber cover on top of the device). Communication protocol is well described: https://cdn-shop.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf
Remember that higher versions of Roomba (7xx+) communicate with higher baud rate (115200bps).There are also couple of libraries (but be careful, one of them contains hardcoded baud-rate, no matter what you declare in constructor :(, I haven't already sent a pull-request).
And the last thing worth mentioning is power supply from Roomba - usually it outputs about 16V, what is enough to power Arduino using internal power regulator, but after connecting to docking station, voltage raises (I needed to replace my one). -
Yes @emka it is not difficult, I have already wrote a sketch. The problem it is, as I said before, and as @vorowski said, an hardware problem, especially with the latest series 8 and 9. You cannot leave the electronics components outside and the space under the handle it is not enough. If you look for a solutions in the web you'll find even two commercial solutions to control roomba, but for the new series they propose some dirty fixes to fit the hardware.
I'm thinking to control roomba via an IR send/receiver. -
this is the code I used....
/* General comments This sketch controls a IRobot Roomba via Mysensors uses the Roomba library from http://www.airspayce.com/mikem/arduino/Roomba Implemented: Dock Medium clean OFF Spot clean Target functionality: Read sensors: 1 SensorChargingState = 21 (ChargeStateNotCharging = 0, ChargeStateReconditioningCharging = 1, ChargeStateFullChanrging = 2, ChargeStateTrickleCharging = 3, ChargeStateWaiting = 4, ChargeStateFault = 5) 2 SensorBatteryTemperature = 24 3 SensorBatteryCharge = 25 4 SensorBatteryCapacity = 26 Events: 1 Mode { ModeOff = 0, ModePassive = 1, ModeSafe = 2, ModeFull = 3 2. Power mode Trigger the following commands: 1 Go to dock (stop) void dock() - Causes roomba to immediately seek the docking station. No equivalent for Create. 2 Clean 3 Maintenance - void drive() - Starts the Roomba driving with a specified wheel velocity and radius of turn 4 Play a song :-) - void playSong ( uint8_t songNumber ) 5 Spot cleaning - OPT code 134 hook up radio - remember to switch serial output of MYSENSORS off! ****************************** | Wire the NRF24L01+ module: | ****************************** Arduino NRF24L01+ Comment GND GND Black 5VReg 3.3V VCC Red 9 CE Orange 10 CSN/CS Yellow 13 SCK Green 11 MOSI Blue 12 MISO Violet 2 IRQ Gray */ // 21.02.2016 created by WL // ... and NOT working! // 05.03.2016 created by WL // ... and working! //include required libraries**************************************** //******************************************************************** #include "OneButton.h" // http://www.mathertel.de/Arduino/OneButtonLibrary.aspx #include <SPI.h> #include <MySensor.h> #include <Roomba.h> //Set Variable ***************************************************** //****************************************************************** // Setup a new OneButton on pin A1. OneButton button1(A1, true); // Setup other variables Roomba roomba(&Serial, Roomba::Baud115200); // Defines the Roomba instance and the HardwareSerial it is connected to // Setup PINs const int ledPin1 = 5; //green const int ledPin2 = 6; //red //Pin2 & 3 External interrup / PWM: 3, 5, 6, 9, 10, and 11 / SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK) / LED: 13 / I2C: A4 (SDA) and A5 (SCL) - this applies for Pro Mini & Nano // Setup other variables //Child IDs #define CHILD_ID 0 // Id of the command node #define CHILD_ID_1 1 // Id of the battery check node #define CHILD_ID_2 2 // Id of the 2nd node // Setup other variables int Roomba1 = 0; // 1 - dock / 2 - clean / 3 - spot / 4 - off //for sensorgetting char* ChargeTypes[6] = { "Not charging","Reconditioning Charging","Full Charging","Trickle Charging","Waiting","Charging Fault Condition"}; char* OiTypes[4] = { "Off","Passive","Safe","Full"}; int packetSizes[58] = { 0,0,0,0,0,0, //1-6 1,1,1,1,1,1,1,1,1,1,1,1, //7-18 2,2, //19-20 1, //21 2,2, //22-23 1, //24 2,2,2,2,2,2,2, //25-31 1, //32 2, //33 1,1,1,1,1, //34-38 2,2,2,2,2,2, //39-44 1, //45 2,2,2,2,2,2, //46-51 1,1, //52-53 2,2,2,2, //54-57 1 //58 }; boolean lowBattery = true; // Acts as a debounce long battery_Current_mAh = 0; long battery_Total_mAh = 0; long battery_percent = 0; boolean DeadBattery = false; boolean FullBattery = true; unsigned long chargingState = 0; long voltage = 0; long temp = 0; long OiMode = 0; long ChargeSource = 0; boolean firstRun = true; //We don't want it Tweeting when it is getting the current state boolean buttonsDown = false; long CorrectDockCycles = 0; unsigned long cliffStartTime = 0; int drivedurationforward = 1000; //value in ms from controller how long to go forward int drivedurationback =1000; //value in ms from controller how long to go back long sensorfrequency = 30000; // frequency the sensors are read long lastsensorread = 0; // when were the sensors read the last time uint8_t buf[52]; // Initialize Mysensors MySensor gw; // Initialize messages MyMessage msg(CHILD_ID, V_VAR1); //Receive commands from controller MyMessage msg2(CHILD_ID, V_VAR2); //Receive drivedurationback from controller MyMessage msg3(CHILD_ID, V_VAR3); //Receive drivedurationforward from controller MyMessage msg4(CHILD_ID, V_VAR4); //Receive sensorfrequency from controller MyMessage msg1_1(CHILD_ID_1, V_VAR1); //Declare sensor message To send ChargeState MyMessage msg1_2(CHILD_ID_1, V_VAR2); //status of Voltage MyMessage msg1_3(CHILD_ID_1, V_VAR3); //status of Temperature MyMessage msg1_4(CHILD_ID_1, V_VAR4); //status of Charge [%] MyMessage msg1_5(CHILD_ID_1, V_VAR5); //status of ChargeSource MyMessage msg2_1(CHILD_ID_2, V_VAR1); // status of OiMode MyMessage msg2_2(CHILD_ID_2, V_VAR2); // status of Status //MyMessage msg2_3(CHILD_ID_2, V_VAR3); // status of Status //MyMessage msg2_4(CHILD_ID_2, V_VAR4); // status of Status MyMessage msg2_5(CHILD_ID_2, V_VAR5); // status of DEBUG // setup code here, to run once************************************ //******************************************************************* void setup() { roomba.start(); // Starts the Open Interface and sets the mode to Passive. You must send this before sending any other commands. Initialises the serial port to the baud rate given in the constructor //Serial.println("Starting the RoombaControlsketch......"); // link the button 1 functions. button1.attachClick(click1); button1.attachDoubleClick(doubleclick1); ///////////////////////////////////// // The MySensors library is started// ///////////////////////////////////// gw.begin(incomingMessage); // gw.begin(NULL, AUTO, true); // The third argument enables repeater mode - no sleeping for repeaters! //Send the sensor node sketch version information to the gateway gw.sendSketchInfo("ControlmyRoomba", "1.1"); //Present sensors gw.present(CHILD_ID, S_CUSTOM); //Your sensor must first present itself to the controller gw.present(CHILD_ID_1, S_CUSTOM); //Your sensor must first present itself to the controller gw.present(CHILD_ID_2, S_CUSTOM); //gw.present(CHILD_ID_3, S_LIGHT); //Request Data from controller (Setup) - not always required gw.request(CHILD_ID, V_VAR2); //request drivedurationback gw.request(CHILD_ID, V_VAR3); //request drivedurationforward gw.request(CHILD_ID, V_VAR3); //request sensorfrequency // Setup required PINS pinMode(ledPin1, OUTPUT); // initialize digital ledPin as an output. pinMode(ledPin2, OUTPUT); // initialize digital ledPin as an output. pinMode(13, OUTPUT); // initialize digital pin 13 as an output. //blink bot hLEDs to indicate setup looped digitalWrite(ledPin1, HIGH); digitalWrite(ledPin2, HIGH); delay(50); digitalWrite(ledPin1, LOW); digitalWrite(ledPin2, LOW); delay(50); digitalWrite(ledPin1, HIGH); digitalWrite(ledPin2, HIGH); delay(50); digitalWrite(ledPin1, LOW); digitalWrite(ledPin2, LOW); delay(1000); } // setup // main code here, to run repeatedly:******************************* //******************************************************************** void loop() { // keep watching the push buttons: button1.tick(); gw.process(); if (millis() > lastsensorread + sensorfrequency) { readsensors(); } } // loop //////////////////////////////////////////////////////////////////////// //receive data from GW void incomingMessage (const MyMessage &message) { if (message.sensor == CHILD_ID) { blinkLED(ledPin1); if (message.type == V_VAR1) { Roomba1 = atoi(message.data); // Roombastatus if (Roomba1 == 1) { roomba.dock(); gw.send(msg2_5.set("received dock")); // Send info value to gw blinkLED(13); } else if (Roomba1 == 2) { Serial.write(135); // medium clean gw.send(msg2_5.set("received medium clean")); // Send info value to gw } else if (Roomba1 == 3) { roomba.spot(); //if Roomba is in a cleaning mode this will pause the cycle gw.send(msg2_5.set("received spot")); // Send info value to gw } else if (Roomba1 == 4) { Serial.write(133); // Power down gw.send(msg2_5.set("received power down")); // Send info value to gw } else if (Roomba1 == 5) { driveback(); // drive backward gw.send(msg2_5.set("drive back")); // Send info value to gw } else if (Roomba1 == 6) { driveforward(); // drive backward gw.send(msg2_5.set("drive forward")); // Send info value to gw } else if (Roomba1 == 7) { Serial.write(133); // Power down gw.send(msg2_5.set("received power down")); // Send info value to gw } else if (Roomba1 == 8) { Serial.write(133); // Power down gw.send(msg2_5.set("received power down")); // Send info value to gw } else if (Roomba1 == 9) { Serial.write(133); // Power down gw.send(msg2_5.set("received power down")); // Send info value to gw } else if (Roomba1 == 10) { Serial.write(133); // Power down gw.send(msg2_5.set("received power down")); // Send info value to gw } } if (message.type == V_VAR2) { drivedurationback = atoi(message.data); // gw.send(msg2_5.set("received drivedurationback")); // Send info value to gw } if (message.type == V_VAR3) { drivedurationforward = atoi(message.data); // gw.send(msg2_5.set("received ne drivedurationforward")); // Send info value to gw } if (message.type == V_VAR4) { sensorfrequency = atoi(message.data); // sensorfrequency = 1000*sensorfrequency; gw.send(msg2_5.set("received sensorfrequency")); // Send info value to gw } } } // ----- button 1 callback functions///////////////////////////////////////// // This function will be called when the button1 was pressed 1 time (and no 2. button press followed). void click1() { //Serial.println("Button 1 click."); blinkLED(13); roomba.safeMode(); // 2 bytes per note uint8_t song[] = {62, 12, 66, 12, 69, 12, 74, 36}; roomba.song(0, song, 8); delay(20); roomba.playSong(0); gw.send(msg2_5.set("play song")); // Send info value to gw roomba.start(); } // click1 // This function will be called when the button1 was pressed 2 times in a short timeframe. void doubleclick1() { readsensors(); } // doubleclick1 // Function declarations //********************************************************************* //for sensorgetting int getPacketSize(int p) { return packetSizes[p-1]; } int getPacketOffset(int p) { int i=0; for (int s=1; s<p; s++) { i+=getPacketSize(s); } return i; } //read sensors void readsensors() { if (roomba.getSensors(6, buf, 52)) { int off = 0; // Battery Checks off = getPacketOffset(21); chargingState = buf[off+0]; voltage = buf[off+2]+256*buf[off+1]; temp = buf[off+5]; battery_Current_mAh = buf[off+7]+256*buf[off+6]; battery_Total_mAh = buf[off+9]+256*buf[off+8]; if (battery_Total_mAh == 0) battery_Total_mAh=1; int nBatPcent = battery_Current_mAh*100/battery_Total_mAh; battery_percent = nBatPcent; //Oi Mode off = getPacketOffset(35); OiMode = buf[off+0]; //ChargeSource off = getPacketOffset(34); ChargeSource = buf[off+0]; gw.send(msg2_5.set("charging state")); // Send info value to gw gw.send(msg2_5.set(chargingState)); // Send info value to gw gw.send(msg1_1.set(ChargeTypes[chargingState])); // Send info value to gw gw.send(msg1_2.set(voltage)); // Send info value to gw gw.send(msg1_3.set(temp)); // Send info value to gw gw.send(msg2_5.set("battery_Current_mAh")); // Send info value to gw gw.send(msg2_5.set(battery_Current_mAh)); // Send info value to gw gw.send(msg2_5.set("battery_Total_mAh")); // Send info value to gw gw.send(msg2_5.set(battery_Total_mAh)); // Send info value to gw gw.send(msg1_4.set(battery_percent)); // Send info value to gw gw.send(msg2_1.set(OiTypes[OiMode])); // Send info value to gw gw.send(msg2_2.set(ChargeSource)); // Send info value to gw lastsensorread = millis(); blinkLED(ledPin2); } else{ gw.send(msg2_5.set("roomba is off"));} // Send info value to gw } //Drive backward void driveback() { roomba.safeMode(); delay(20); long drivestart = millis(); roomba.drive(0xFF38, 0x8000); // Drive straight backwards while (millis() < drivestart+drivedurationback){ gw.send(msg2_5.set("driving")); // Send info value to gw } roomba.drive(0, 0); // Stop gw.send(msg2_5.set("stopped")); // Send info value to gw roomba.start(); // back topassive mode } //Drive forward void driveforward() { roomba.safeMode(); delay(20); long drivestart = millis(); roomba.drive(0xc8, 0x8000); // Drive straight forward while (millis() < drivestart+drivedurationforward){ gw.send(msg2_5.set("driving")); // Send info value to gw } roomba.drive(0, 0); // Stop gw.send(msg2_5.set("stopped")); // Send info value to gw roomba.start(); // back topassive mode } //blink a specified LED void blinkLED(int blinkPIN) //ledPinx needs to be specified { //Serial.print("blink LED "); //Serial.println(blinkPIN); //Serial.println(""); // move the cursor to the next line digitalWrite(blinkPIN, HIGH); // turn the LED on (HIGH is the voltage level) delay(100); // wait for a delay ms digitalWrite(blinkPIN, LOW); // turn the LED off by making the voltage LOW delay(30); } //roomba.playSong(0); //play song number 0 / OPT Code 141 + 1 data byte //roomba.playSong(0); //play song number 0 / OPT Code 141 + 1 data byte //roomba.leds(ROOMBA_MASK_LED_NONE, 0, 0); //does something withe LEDs / OPT Code 139 + 3 data bytes //roomba.leds(ROOMBA_MASK_LED_1, 100, 255); //this is "dirt detect" //delay(1000); //roomba.leds(ROOMBA_MASK_LED_1, 100, 0); //roomba.leds(ROOMBA_MASK_LED_3, 100, 255); //this is "dirt detect" //delay(1000); //roomba.leds(ROOMBA_MASK_LED_3, 100, 0); //roomba.leds(ROOMBA_MASK_LED_5, 100, 255); //this is dirt detect & dock //delay(1000); //roomba.leds(ROOMBA_MASK_LED_5, 100, 0); //roomba.leds(ROOMBA_MASK_LED_7, 100, 255); //this is spot & dock & dirt detect //delay(1000); //roomba.leds(ROOMBA_MASK_LED_7, 100, 0); //delay(1000); //roomba.playSong(0); //play song number 0 / OPT Code 141 + 1 data byte //roomba.playSong(0); //play song number 0 / OPT Code 141 + 1 data byte //roomba.leds(ROOMBA_MASK_LED_NONE, 0, 0); //does something withe LEDs / OPT Code 139 + 3 data bytes //roomba.leds(ROOMBA_MASK_LED_NONE, 100, 100); // this is the "clean LED" //delay(1000); //roomba.leds(ROOMBA_MASK_LED_NONE, 100, 0); // this is the "clean LED" //roomba.leds(ROOMBA_MASK_LED_PLAY, 255, 255); // this is the "clean LED" //delay(1000); //roomba.leds(ROOMBA_MASK_LED_PLAY, 255, 0); //roomba.leds(ROOMBA_MASK_LED_4, 100, 255); //this is "dirt detect" //delay(1000); //roomba.leds(ROOMBA_MASK_LED_4, 100, 0); //roomba.leds(ROOMBA_MASK_LED_6, 100, 255); // this is the "clean LED" //delay(1000); //roomba.leds(ROOMBA_MASK_LED_6, 100, 0); //roomba.leds(ROOMBA_MASK_LED_ADVANCE, 100, 255); //this is "!" //delay(1000); //roomba.leds(ROOMBA_MASK_LED_ADVANCE, 100, 0); //delay(1000); -
Hey all,
I made a Roomba IR scheduler for my Roomba 500. I used Mysensors icm with Pimatic. On a defined time or condition in Pimatic I sent for about 10 seconds the IR command to the Roomba. Which will start the robot to clean and leave the dock. With a LDR on the dock LED I can measere the amount of time the robot is cleaning. The same Mysensors node does also measure the room temperature and humidity of the living room where my Roomba dock is.Emiel
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For quite a while now there has been information on the net on how to build serial cables for the roomba and the documentation for controlling it from such a cable. I found this little bit on connecting the serial port to an arduino. http://www.netfluvia.org/layer8/?p=127 Seems like it should be pretty straight forward with this info to be able to MySensorize it. Looks like they do their communication with an xbee, but the basic concepts should be the same.
