Mysensorized Roomba

Eoreh

HI !.
@EmielA said:

With this approach you don't need to put anything on top of the Roomba which wil get broken off (is my experience) when its e.g. working under the bench.

I have only 1 dock station and many rooms :). My roomba dont going "under the bench" so i dont have experience like yours with sensor on top.

But will be interested looks for code in your approach so please show it.

Thank You.

EmielA

Eoreh,

I used different pieces of code from different projects.and combined them to one sketch. I used some from this project : link text
And the sketch from the MySensors Relay Actuator. I switch the Node/Relay on for about 10 seconds and then off. In the 10 seconds the IR sends the CLEAN command. With a LDR I detect if the Roomba dock led is on or off. So I detect if the Roomba is on its dock. Here under the code I hope it helps you.




// Example sketch showing how to control physical relays. 
// This example will remember relay state even after power failure.

#include <MySensor.h>
#include <SPI.h>
#include <IRremote.h>
#include <DHT.h> 
#include <Bounce2.h>

#define RELAY_1  3  // Arduino Digital I/O pin number for first relay (second on pin+1 etc)
#define NUMBER_OF_RELAYS 1 // Total number of attached relays
#define RELAY_ON 1  // GPIO value to write to turn on attached relay
#define RELAY_OFF 0 // GPIO value to write to turn off attached relay

#define CHILD_ID_HUM 0
#define CHILD_ID_TEMP 1
#define CHILD_ID_DOCK 5
#define HUMIDITY_SENSOR_DIGITAL_PIN 4 // Temperatuur sensor and Humidity op pin 4 input
#define DOCK_SENSOR_PIN 5 // Light sensor on pin 5 input
unsigned long WAIT_TIME = 15000; // Wait time between reads (in milliseconds)


IRsend irsend; // hardwired to pin 3; use a transistor to drive the IR LED for maximal range

MySensor gw;

Bounce debouncer = Bounce();
DHT dht;
int oldValue=-1; //light sensor
float lastTemp;
float lastHum;
boolean metric = true; 
MyMessage msgHum(CHILD_ID_HUM, V_HUM);
MyMessage msgTemp(CHILD_ID_TEMP, V_TEMP);

// Change to V_LIGHT if you use S_LIGHT in presentation below
MyMessage msgDock(CHILD_ID_DOCK,V_TRIPPED);

void setup()  
{   
  // Initialize library and add callback for incoming messages
  gw.begin(incomingMessage, AUTO, true);
   
  // Setup the DOCK_SENSOR to input
  pinMode(DOCK_SENSOR_PIN,INPUT);
  
  // After setting up the button, setup debouncer
  debouncer.attach(DOCK_SENSOR_PIN);
  debouncer.interval(5);
  
  dht.setup(HUMIDITY_SENSOR_DIGITAL_PIN); 
  // Send the sketch version information to the gateway and Controller
  gw.sendSketchInfo("Temp Humidity and Roomba IR", "1.0");

  // Register all sensors to gw (they will be created as child devices)
  gw.present(CHILD_ID_HUM, S_HUM);
  gw.present(CHILD_ID_TEMP, S_TEMP);
  gw.present(CHILD_ID_DOCK, S_DOOR);
  
  metric = gw.getConfig().isMetric;

  // Fetch relay status
  for (int sensor=2, pin=RELAY_1; sensor<=NUMBER_OF_RELAYS;sensor++, pin++) {
    // Register all sensors to gw (they will be created as child devices)
    gw.present(sensor, V_LIGHT);
    // Then set relay pins in output mode
    pinMode(pin, OUTPUT);   
    // Set relay to last known state (using eeprom storage) 
    digitalWrite(pin, gw.loadState(sensor)?RELAY_ON:RELAY_OFF);
  }
}


void loop() 
{
  // Alway process incoming messages whenever possible
  
  {  
  delay(dht.getMinimumSamplingPeriod());

  float temperature = dht.getTemperature();
  if (isnan(temperature)) {
      Serial.println("Failed reading temperature from DHT");
  } else if (temperature != lastTemp) {
    lastTemp = temperature;
    if (!metric) {
      temperature = dht.toFahrenheit(temperature);
    }
    gw.send(msgTemp.set(temperature, 1));
    Serial.print("T: ");
    Serial.println(temperature);
  }
  
  float humidity = dht.getHumidity();
  if (isnan(humidity)) {
      Serial.println("Failed reading humidity from DHT");
  } else if (humidity != lastHum) {
      lastHum = humidity;
      gw.send(msgHum.set(humidity, 1));
      Serial.print("H: ");
      Serial.println(humidity);
  }

  debouncer.update();
  // Get the update value
  int value = debouncer.read();
 
  if (value != oldValue) {
     // Send in the new value
     gw.send(msgDock.set(value==HIGH ? 1 : 0));
     oldValue = value;
  }
  
  gw.wait(WAIT_TIME); //sleep a bit
 }
}

void incomingMessage(const MyMessage &message) {
  // We only expect one type of message from controller. But we better check anyway.
  if (message.type==V_LIGHT) {
     // Change relay state
//     digitalWrite(message.sensor-1+RELAY_1, message.getBool()?RELAY_ON:RELAY_OFF);
     roomba_send(136);  // Send "Clean"   
     // Store state in eeprom
     gw.saveState(message.sensor, message.getBool());
     // Write some debug info
     Serial.print("Incoming change for sensor:");
     Serial.print(message.sensor);
     Serial.print(", New status: ");
     Serial.println(message.getBool());
   } 
}
void roomba_send(int code)
{
  Serial.print("Sending Roomba code ");
  Serial.print(code);
  int length = 8;
  unsigned int raw[length*2];
  unsigned int one_pulse = 3000;
  unsigned int one_break = 1000;
  unsigned int zero_pulse = one_break;
  unsigned int zero_break = one_pulse;

  int arrayposition = 0;
  // Serial.println("");
  for (int counter = length-1; counter >= 0; --counter) {
    if(code & (1<<counter)) {
      // Serial.print("1");
      raw[arrayposition] = one_pulse;
      raw[arrayposition+1] = one_break;
    }
    else {
      // Serial.print("0");
      raw[arrayposition] = zero_pulse;
      raw[arrayposition+1] = zero_break;
    }
    arrayposition = arrayposition + 2;
  }
  for (int i = 0; i < 3; i++) {
    irsend.sendRaw(raw, 15, 38);
    delay(50);
  }
  Serial.println("");

  Serial.print("Raw timings:");
   for (int z=0; z<length*2; z++) {
   Serial.print(" ");
   Serial.print(raw[z]);
   }
   Serial.print("\n\n");
}

Eawo

Maybe this is off topic but I'm going to buy a roomba but it is so many versions. Will roomba 615 or 616 do the job or is the newer versions smarter cleaner? I have around 80kvd

parachutesj

@Eawo I do have a 581 and not 100% sure what has been changed on newer models. Maybe you ask in a roomba forum

parachutesj

All,
I did some updates also thanks to @Eoreh I updated my code a bit. Anyhow, no really news on software side but was able to fit it more or less completely inside of the Roomba.

I wanted to fit all inside and I think there is enough space but wanted to be able to disable it and thought about a dip-switch somewhere but then decided to have it connected via DIN as before. Means also no soldering on Roomba
finding a spot was easy:

There is enough space on the side of the bin. (In picture, the external charging port was already removed)
I soldered all together and decided to opt for a Nano instead of a Pro Mini due to the lack of 3.3V on board. I know radio might be better powered with a voltage regulator but the reception and reliability is not too important here. Anyhow not experienced any issues so far. I also used the SMD radio to save some extra space.
The voltage regulator has a heat sink mounted which is pointing where the charing port was and is getting some "fresh air" ;-)
all in place and ready to be closed again
closed without top plate

If it stops working or needs a reset, I only need to unplug and replug

moskovskiy82

@parachutesj Mind posting your finished code?

Also wonder what is the correct MQTT payload to start for example cleaning?

Upon start i see the following

mys-out/15/255/3/0/11 MYS Roomba
mys-out/15/255/3/0/12 2.1
mys-out/15/0/0/0/3 Roomba-Stop
mys-out/15/1/0/0/3 Roomba-Dock
mys-out/15/2/0/0/3 Roomba-Clean
mys-out/15/3/0/0/3 Roomba-Spot
mys-out/15/4/0/0/3 Roomba-Max
mys-out/15/5/0/0/3 Roomba-Power
mys-out/15/6/0/0/3 Roomba-Play
mys-out/15/100/0/0/6 Roomba-Batt-Temp
mys-out/15/101/0/0/39 Roomba-Batt-Proc
mys-out/15/102/0/0/30 Roomba-Batt-Volt
mys-out/15/103/0/0/30 Roomba-Batt-mAH
mys-out/15/104/0/0/36 Roomba-Batt-CHt
mys-out/15/105/0/0/36 Roomba-Batt-CHs

But publishing to

mys-in/15/2/1/0/3
mys-in/15/2/1/0/2

with payload 1 doesn't do anything

parachutesj

@moskovskiy82 I did not change too much compared to @EmielA on the code. worked pretty good until I bought a new roomba recently. Haven't tried it on the 980 yet:

// Enable debug prints to serial monitor
#define MY_DEBUG

// Enable and select radio type attached
#define MY_RADIO_NRF24
//#define MY_RADIO_RFM69

// Enable repeater functionality for this node
#define MY_REPEATER_FEATURE

#define CHILD_ID_BATT_TEMP          100  // Id of the 2nd msg1_3
#define CHILD_ID_BATT_PROC          101   // Id of the 2nd msg1_4
#define CHILD_ID_BATT_VOLT          102   // Id of the 2nd msg1_2
#define CHILD_ID_BATT_AH            103   // Id of the 2nd msg2_5
#define CHILD_ID_BATT_CHARGE_TYPE   104   // Id of the 2nd msg1_1
#define CHILD_ID_BATT_CHARGE_SOURCE 105   // Id of the 2nd msg2_2


#include <MySensors.h>
#include <SoftwareSerial.h>

//#define RELAY_1  5  // Arduino Digital I/O pin number for first relay (second on pin+1 etc)
//#define NUMBER_OF_RELAYS 2 // Total number of attached relays
//#define RELAY_ON 1  // GPIO value to write to turn on attached relay
//#define RELAY_OFF 0 // GPIO value to write to turn off attached relay

#define NUMBER_OF_FUNCTION 7 
#define NUMBER_OF_SENSORS 6
#define ROOMBA_READ_TIMEOUT 300
#define ROOMBA_WAKE_COUNT 10
int ddPin = 6;

int rxPin = 3;
int txPin = 4;
int ledPin = 13;

SoftwareSerial roomba(rxPin, txPin);

const char SWITCH_NAMES[NUMBER_OF_FUNCTION][14] = { "Roomba-Stop","Roomba-Dock","Roomba-Clean","Roomba-Spot","Roomba-Max","Roomba-Power","Roomba-Play" };
const char SENSORS_NAMES[NUMBER_OF_SENSORS][24] = { "Roomba-Batt-Temp","Roomba-Batt-Proc","Roomba-Batt-Volt", "Roomba-Batt-mAH" , "Roomba-Batt-CHt" , "Roomba-Batt-CHs" };


uint8_t buf[52];
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;

long sensorfrequency = 300000; // 300000 = 5 min - frequency the sensors are read
long lastsensorread = 0; // when were the sensors read the last time
unsigned long lastsensorssend = 0;

const char ChargeTypes[6][34] = { "Not charging","Reconditioning Charging","Full Charging","Trickle Charging","Waiting","Charging Fault Condition" };
const char OiTypes[4][14] = { "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
};
#define bumpright (sensorbytes[0] & 0x01)
#define bumpleft  (sensorbytes[0] & 0x02)


MyMessage msg1_3(CHILD_ID_BATT_TEMP, V_TEMP); //status of Temperature
MyMessage msg1_4(CHILD_ID_BATT_PROC, V_PH); //status of Charge [%]
MyMessage msg1_2(CHILD_ID_BATT_VOLT, V_VOLTAGE); //status of Voltage
MyMessage msg2_5(CHILD_ID_BATT_AH, V_CURRENT); //status of mAH
MyMessage msg1_1(CHILD_ID_BATT_CHARGE_TYPE, V_TEXT); //status of charget type
MyMessage msg2_2(CHILD_ID_BATT_CHARGE_SOURCE, V_TEXT); //status of charger source

void setup() {
    pinMode(ddPin, OUTPUT);
    digitalWrite(ddPin, LOW);
    Serial.begin(115200);
    while (!Serial) {
        ; // wait for serial port to connect. Needed for native USB port only
    }
    roomba.begin(115200);
    //Serial.println("Sending start command...");
    //delay(1000);
    //// set up ROI to receive commands
    defsongs();
    delay(500);
    rstop();
    Serial.println("Ready to go!");
}

void presentation()
{
    // Send the sketch version information to the gateway and Controller
    sendSketchInfo("Roomba", "1.2");

    for (int sensor = 0; sensor < NUMBER_OF_FUNCTION; sensor++) {
        // Register all sensors to gw (they will be created as child devices)
        present(sensor, S_BINARY, SWITCH_NAMES[sensor]);
        delay(100);
    }
    present(CHILD_ID_BATT_TEMP, S_TEMP, SENSORS_NAMES[0]); delay(100);
    present(CHILD_ID_BATT_PROC, S_WATER_QUALITY, SENSORS_NAMES[1]); delay(100);
    present(CHILD_ID_BATT_VOLT, S_MULTIMETER, SENSORS_NAMES[2]);    delay(100);
    present(CHILD_ID_BATT_AH, S_MULTIMETER, SENSORS_NAMES[3]);  delay(100);
    present(CHILD_ID_BATT_CHARGE_TYPE, S_INFO, SENSORS_NAMES[4]); delay(100);
    present(CHILD_ID_BATT_CHARGE_SOURCE, S_INFO, SENSORS_NAMES[5]); delay(100);
}

void loop() {
    unsigned long now = millis();
    if (now > lastsensorssend + sensorfrequency)
    {
        readsensors();
        lastsensorssend = now;
    }
}


void receive(const MyMessage &message) {
  // We only expect one type of message from controller. But we better check anyway.
  if (message.type == V_LIGHT) {
    int mySensor = message.sensor;
    int myComand = message.getBool();

    //Serial.print(message.sensor-1+RELAY_1);

    if (mySensor == 0) {
      if (myComand == 1) {
        Serial.println("Clean");
        //clean();
        rcommand(135);
      }
      else {
        Serial.println("Stopp1");
        //halt();
        rstop();
      }
    }

    if (mySensor == 1) {
      if (myComand == 1) {
        Serial.println("dock");
        //dock();
        rcommand(143);
      }
      else {
        Serial.println("Stopp2");
        //halt();
        rstop();
      }
    }
    if (mySensor == 2) {
      if (myComand == 1) {
        Serial.println("song");
        //dock();
        rcommand(141);
        rsong(0);
      }
      else {
        Serial.println("Stopp2");
        //halt();
        rstop();
      }
    }

  }
}

void halt() {
  ;
  roomba.write(131);  // SAFE
  byte j = 0x00;
  roomba.write(137);
  roomba.write(j);
  roomba.write(j);
  roomba.write(j);
  roomba.write(j);
}

void dock() {
  delay(1000);
  roomba.write(143);
}

void clean() {
  delay(1000);
  roomba.write(135);
}

void rstop() {
    if (rwakeup()) {
        roomba.write(128);  delay(100);
        roomba.write(131);  delay(100);
        roomba.write(137);  delay(100);
        byte j = 0x00;
        roomba.write(j); delay(100);
        roomba.write(j); delay(100);
        roomba.write(j); delay(100);
        roomba.write(j); delay(100);
        roomba.write(128);
    }

}

void rsong(int b) {
    roomba.write(b); delay(100);
}



void rcommand(int command) {
    if (rwakeup()) {
        roomba.write(128);  delay(100);
        roomba.write(131);  delay(100);
        roomba.write(command);
    }
}

void play(char note, int rlong) {
    roomba.write(rnote(note));  delay(10);  roomba.write(64 / rlong);   delay(10);
}


bool rwakeup() {
    bool ret = getSensors(6, buf, 52);
    Serial.print("wakeup: ");
    Serial.print(ret);
    if (!ret) {
        for (int ii = 1; ii < ROOMBA_WAKE_COUNT; ii++)
        {
            for (int jj = 0; jj < 3; jj++) {
                digitalWrite(ddPin, HIGH); delay(10); 
                digitalWrite(ddPin, LOW); delay(2);
            }
            delay(100);
            roomba.write(128);
            if (getSensors(6, buf, 52)) {
                ret = true;
                break;
            }
            Serial.print("-");
        }
    }
    Serial.println(ret);
    return ret;
}

bool getSensors(uint8_t packetID, uint8_t* dest, uint8_t len) {
    roomba.write(142);
    delay(100);
    roomba.write(packetID);
    delay(100);
    return getData(dest, len);
}


bool getData(uint8_t* dest, uint8_t len)
{
    while (len-- > 0)
    {
        unsigned long startTime = millis();
        while (!roomba.available())
        {
            // Look for a timeout
            if (millis() > startTime + ROOMBA_READ_TIMEOUT)
                return false; // Timed out
        }
        *dest++ = roomba.read();
    }
    return true;
}

//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 (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];


        send(msg1_3.set(temp));  delay(100);
        send(msg1_4.set(battery_percent));  delay(100);
        send(msg1_2.set(round(voltage / 10), 1));  delay(100);
        send(msg2_5.set(battery_Current_mAh));  delay(100);
        send(msg1_1.set(ChargeTypes[chargingState]));  delay(100);
        send(msg2_2.set(ChargeSource));  delay(100);

        //send(msg2_5.set(chargingState));  // Send info value to gw
        //send(msg2_5.set("charging state"));  // Send info value to gw
        //send(msg2_5.set(battery_Total_mAh));  // Send info value to gw
        //send(msg2_1.set(OiTypes[OiMode]));  // Send info value to gw
        lastsensorread = millis();

    }
    else { send(msg1_1.set("roomba is off")); }  // Send info value to gw
}

void defsongs() {
    uint8_t zero = 0;
    roomba.write(128);  delay(100); roomba.write(131);  delay(100); //[128 131](Start the command stream and change roomba mode to "Safe" mode)
    roomba.write(140);  delay(100); roomba.write(zero); delay(100); //[140 0](Start song definition and define the first song, song number 0)
    roomba.write(25);   //[16](16 notes will be sent for song number 0)
    play('E', 4);       //[76 16](play Mi sound for 1 / 4 seconds) // E
    play('E', 4);
    play('E', 2);
    play('E', 4);
    play('E', 4);
    play('E', 2);       //[76 32](play Mi sound for 1 / 2 seconds)
    play('E', 4);
    play('G', 4);
    play('C', 4);
    play('D', 4);
    play('E', 1);

    play('F', 4);
    play('F', 4);
    play('F', 2);

    play('F', 4);
    play('E', 4);
    play('E', 2);

    play('E', 4);
    play('D', 4);
    play('D', 4);
    play('E', 4);
    play('D', 1);
    delay(100);
    roomba.write(128);
}

int rnote(char note) {
    int command = 31;
    switch (note) {
    case 'C': command = 72; break;
    case 'D': command = 74; break;
    case 'E': command = 76; break;
    case 'F': command = 77; break;
    case 'G': command = 79; break;
    }
    return command;
}

gohan

Just a question, but wouldn't it be an esp8266 a more compact solution? (Not to mention the quick ota programming) Or the roomba is running 5v serial output?

parachutesj

@gohan ESP is probably a good alternative. but then again you could also buy an after market wireless module for your roomba.
I am not sure about the serial output, but I think it is 5v.

but there is plenty of space for a nano or pro mini. wemos mini or nodemcu should also fit

moskovskiy82

ESP is the best solution although couldn't find the code with sensors (only clean/dock commands). I recently made a post on HomeAssistant forum - how wemos D1 fits nicely inside. You only need a buck converter and 4 cat5 wires soldered. And 5V serial output is not such a big problem as you need a voltage divider only on rx pin (didn't put it)

P.S. But then one of those "machine revolt weeks happened" so my esproomba didn't respond and then i burned it down. Next day my RPi3 went down with HA and lots of goodies. And today ESXi...

gohan

Oh man, that sucks a lot. Best luck for your disaster recovery

PS if everything you are touching is failing, be careful when you are going to pee 😂

zen85

// Enable debug prints to serial monitor
#define MY_DEBUG

// Enable and select radio type attached
#define MY_RADIO_NRF24
//#define MY_RADIO_RFM69

// Enable repeater functionality for this node
#define MY_REPEATER_FEATURE

#define CHILD_ID_BATT_TEMP          100  // Id of the 2nd msg1_3
#define CHILD_ID_BATT_PROC          101   // Id of the 2nd msg1_4
#define CHILD_ID_BATT_VOLT          102   // Id of the 2nd msg1_2
#define CHILD_ID_BATT_AH            103   // Id of the 2nd msg2_5
#define CHILD_ID_BATT_CHARGE_TYPE   104   // Id of the 2nd msg1_1
#define CHILD_ID_BATT_CHARGE_SOURCE 105   // Id of the 2nd msg2_2


#include <MySensors.h>
#include <SoftwareSerial.h>

//#define RELAY_1  5  // Arduino Digital I/O pin number for first relay (second on pin+1 etc)
//#define NUMBER_OF_RELAYS 2 // Total number of attached relays
//#define RELAY_ON 1  // GPIO value to write to turn on attached relay
//#define RELAY_OFF 0 // GPIO value to write to turn off attached relay

#define NUMBER_OF_FUNCTION 7 
#define NUMBER_OF_SENSORS 6
#define ROOMBA_READ_TIMEOUT 300
#define ROOMBA_WAKE_COUNT 10
int ddPin = 6;

int rxPin = 3;
int txPin = 4;
int ledPin = 13;

SoftwareSerial roomba(rxPin, txPin);

const char SWITCH_NAMES[NUMBER_OF_FUNCTION][14] = { "Roomba-Stop","Roomba-Dock","Roomba-Clean","Roomba-Spot","Roomba-Max","Roomba-Power","Roomba-Play" };
const char SENSORS_NAMES[NUMBER_OF_SENSORS][24] = { "Roomba-Batt-Temp","Roomba-Batt-Proc","Roomba-Batt-Volt", "Roomba-Batt-mAH" , "Roomba-Batt-CHt" , "Roomba-Batt-CHs" };


uint8_t buf[52];
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;

long sensorfrequency = 300000; // 300000 = 5 min - frequency the sensors are read
long lastsensorread = 0; // when were the sensors read the last time
unsigned long lastsensorssend = 0;

const char ChargeTypes[6][34] = { "Not charging","Reconditioning Charging","Full Charging","Trickle Charging","Waiting","Charging Fault Condition" };
const char OiTypes[4][14] = { "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
};
#define bumpright (sensorbytes[0] & 0x01)
#define bumpleft  (sensorbytes[0] & 0x02)


MyMessage msg1_3(CHILD_ID_BATT_TEMP, V_TEMP); //status of Temperature
MyMessage msg1_4(CHILD_ID_BATT_PROC, V_PH); //status of Charge [%]
MyMessage msg1_2(CHILD_ID_BATT_VOLT, V_VOLTAGE); //status of Voltage
MyMessage msg2_5(CHILD_ID_BATT_AH, V_CURRENT); //status of mAH
MyMessage msg1_1(CHILD_ID_BATT_CHARGE_TYPE, V_TEXT); //status of charget type
MyMessage msg2_2(CHILD_ID_BATT_CHARGE_SOURCE, V_TEXT); //status of charger source

void setup() {
    pinMode(ddPin, OUTPUT);
    digitalWrite(ddPin, LOW);
    Serial.begin(115200);
    while (!Serial) {
        ; // wait for serial port to connect. Needed for native USB port only
    }
    roomba.begin(115200);
    //Serial.println("Sending start command...");
    //delay(1000);
    //// set up ROI to receive commands
    defsongs();
    delay(500);
    rstop();
    Serial.println("Ready to go!");
}

void presentation()
{
    // Send the sketch version information to the gateway and Controller
    sendSketchInfo("Roomba", "1.2");

    for (int sensor = 0; sensor < NUMBER_OF_FUNCTION; sensor++) {
        // Register all sensors to gw (they will be created as child devices)
        present(sensor, S_BINARY, SWITCH_NAMES[sensor]);
        delay(100);
    }
    present(CHILD_ID_BATT_TEMP, S_TEMP, SENSORS_NAMES[0]); delay(100);
    present(CHILD_ID_BATT_PROC, S_WATER_QUALITY, SENSORS_NAMES[1]); delay(100);
    present(CHILD_ID_BATT_VOLT, S_MULTIMETER, SENSORS_NAMES[2]);    delay(100);
    present(CHILD_ID_BATT_AH, S_MULTIMETER, SENSORS_NAMES[3]);  delay(100);
    present(CHILD_ID_BATT_CHARGE_TYPE, S_INFO, SENSORS_NAMES[4]); delay(100);
    present(CHILD_ID_BATT_CHARGE_SOURCE, S_INFO, SENSORS_NAMES[5]); delay(100);
}

void loop() {
    unsigned long now = millis();
    if (now > lastsensorssend + sensorfrequency)
    {
        readsensors();
        lastsensorssend = now;
    }
}


void receive(const MyMessage &message) {
  // We only expect one type of message from controller. But we better check anyway.
  if (message.type == V_LIGHT) {
    int mySensor = message.sensor;
    int myComand = message.getBool();

    //Serial.print(message.sensor-1+RELAY_1);

    if (mySensor == 0) {
      if (myComand == 1) {
        Serial.println("Clean");
        //clean();
        rcommand(135);
      }
      else {
        Serial.println("Stopp1");
        //halt();
        rstop();
      }
    }

    if (mySensor == 1) {
      if (myComand == 1) {
        Serial.println("dock");
        //dock();
        rcommand(143);
      }
      else {
        Serial.println("Stopp2");
        //halt();
        rstop();
      }
    }
    if (mySensor == 2) {
      if (myComand == 1) {
        Serial.println("song");
        //dock();
        rcommand(141);
        rsong(0);
      }
      else {
        Serial.println("Stopp2");
        //halt();
        rstop();
      }
    }

  }
}

void halt() {
  ;
  roomba.write(131);  // SAFE
  byte j = 0x00;
  roomba.write(137);
  roomba.write(j);
  roomba.write(j);
  roomba.write(j);
  roomba.write(j);
}

void dock() {
  delay(1000);
  roomba.write(143);
}

void clean() {
  delay(1000);
  roomba.write(135);
}

void rstop() {
    if (rwakeup()) {
        roomba.write(128);  delay(100);
        roomba.write(131);  delay(100);
        roomba.write(137);  delay(100);
        byte j = 0x00;
        roomba.write(j); delay(100);
        roomba.write(j); delay(100);
        roomba.write(j); delay(100);
        roomba.write(j); delay(100);
        roomba.write(128);
    }

}

void rsong(int b) {
    roomba.write(b); delay(100);
}



void rcommand(int command) {
    if (rwakeup()) {
        roomba.write(128);  delay(100);
        roomba.write(131);  delay(100);
        roomba.write(command);
    }
}

void play(char note, int rlong) {
    roomba.write(rnote(note));  delay(10);  roomba.write(64 / rlong);   delay(10);
}


bool rwakeup() {
    bool ret = getSensors(6, buf, 52);
    Serial.print("wakeup: ");
    Serial.print(ret);
    if (!ret) {
        for (int ii = 1; ii < ROOMBA_WAKE_COUNT; ii++)
        {
            for (int jj = 0; jj < 3; jj++) {
                digitalWrite(ddPin, HIGH); delay(10); 
                digitalWrite(ddPin, LOW); delay(2);
            }
            delay(100);
            roomba.write(128);
            if (getSensors(6, buf, 52)) {
                ret = true;
                break;
            }
            Serial.print("-");
        }
    }
    Serial.println(ret);
    return ret;
}

bool getSensors(uint8_t packetID, uint8_t* dest, uint8_t len) {
    roomba.write(142);
    delay(100);
    roomba.write(packetID);
    delay(100);
    return getData(dest, len);
}


bool getData(uint8_t* dest, uint8_t len)
{
    while (len-- > 0)
    {
        unsigned long startTime = millis();
        while (!roomba.available())
        {
            // Look for a timeout
            if (millis() > startTime + ROOMBA_READ_TIMEOUT)
                return false; // Timed out
        }
        *dest++ = roomba.read();
    }
    return true;
}

//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 (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];


        send(msg1_3.set(temp));  delay(100);
        send(msg1_4.set(battery_percent));  delay(100);
        send(msg1_2.set(round(voltage / 10), 1));  delay(100);
        send(msg2_5.set(battery_Current_mAh));  delay(100);
        send(msg1_1.set(ChargeTypes[chargingState]));  delay(100);
        send(msg2_2.set(ChargeSource));  delay(100);

        //send(msg2_5.set(chargingState));  // Send info value to gw
        //send(msg2_5.set("charging state"));  // Send info value to gw
        //send(msg2_5.set(battery_Total_mAh));  // Send info value to gw
        //send(msg2_1.set(OiTypes[OiMode]));  // Send info value to gw
        lastsensorread = millis();

    }
    else { send(msg1_1.set("roomba is off")); }  // Send info value to gw
}

void defsongs() {
    uint8_t zero = 0;
    roomba.write(128);  delay(100); roomba.write(131);  delay(100); //[128 131](Start the command stream and change roomba mode to "Safe" mode)
    roomba.write(140);  delay(100); roomba.write(zero); delay(100); //[140 0](Start song definition and define the first song, song number 0)
    roomba.write(25);   //[16](16 notes will be sent for song number 0)
    play('E', 4);       //[76 16](play Mi sound for 1 / 4 seconds) // E
    play('E', 4);
    play('E', 2);
    play('E', 4);
    play('E', 4);
    play('E', 2);       //[76 32](play Mi sound for 1 / 2 seconds)
    play('E', 4);
    play('G', 4);
    play('C', 4);
    play('D', 4);
    play('E', 1);

    play('F', 4);
    play('F', 4);
    play('F', 2);

    play('F', 4);
    play('E', 4);
    play('E', 2);

    play('E', 4);
    play('D', 4);
    play('D', 4);
    play('E', 4);
    play('D', 1);
    delay(100);
    roomba.write(128);
}

int rnote(char note) {
    int command = 31;
    switch (note) {
    case 'C': command = 72; break;
    case 'D': command = 74; break;
    case 'E': command = 76; break;
    case 'F': command = 77; break;
    case 'G': command = 79; break;
    }
    return command;
}

i love this project. i am the owner of a roomba 620 and hooked it up to a arduino-mega. putting "clean()" in the code does what it should and the radiomodules are working fine. but it seems that i dont get values from the sensors and so nothing is showing up in homeassistant... :(

i checked the wiring about 5 times already and since starting for example "clean()" works i think it is a different issue...

did anyone else try this and ran into the same problem?

banda banda

there is plenty of space for a nano or pro mini. wemos mini or nodemcu should also fit
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