Mysensorized Roomba



  • Hi,
    just wanted to share my POC:
    We're having a cleaning robot since years. It has built in scheduler and cleans based on that no matter if anyone is home or not.
    I wanted to change that; I do have the status of precence in OpenHAB.
    I have just created a simple mySensor node (based on a light switch) which sends 3 different commands to roomba:
    clean
    dock
    stop

    In openHAB it is just defined as a light switch and I can build up a schedule and if someone is home, it delays the start of cleaning until all are gone.

    ToDo:
    See if I can fit the parts inside of the cleaning robot but for POC I am happy

    alt text

    
    // 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
    
    #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
    
    int rxPin = 3;
    int txPin = 4;
    int ledPin = 13;
    
    SoftwareSerial Roomba(rxPin, txPin);
    
    #define bumpright (sensorbytes[0] & 0x01)
    #define bumpleft  (sensorbytes[0] & 0x02)
    
    void setup() {
      pinMode(ledPin, OUTPUT);   // sets the pins as output
      Serial.begin(115200);
      Roomba.begin(115200);
      digitalWrite(ledPin, HIGH); // say we're alive
      Serial.println ("Sending start command...");
      delay (1000);
      // set up ROI to receive commands
      Roomba.write(128);  // START
      delay(150);
      Serial.println ("Sending Safe Mode command...");
      delay (1000);
      Roomba.write(131);  // CONTROL
      delay(150);
      digitalWrite(ledPin, LOW);  // say we've finished setup
      Serial.println ("Ready to go!");
      delay (5000);
    }
    
    void presentation()
    {
      // Send the sketch version information to the gateway and Controller
      sendSketchInfo("Roomba", "1.0");
    
      for (int sensor = 1, pin = RELAY_1; sensor <= NUMBER_OF_RELAYS; sensor++, pin++) {
        // Register all sensors to gw (they will be created as child devices)
        present(sensor, S_BINARY);
      }
    }
    
    void loop() {
    
    }
    
    
    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();
          }
          else {
            Serial.println("Stopp1");
            halt();
          }
        }
    
        if (mySensor == 1) {
          if (myComand == 1) {
            Serial.println("dock");
            dock();
          }
          else {
            Serial.println("Stopp2");
            halt();
          }
        }
    
      }
    }
    
    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);
    }
    
    

    Cheers,
    SJ



  • Thanks for sharing this. You inspire me and i also made a similar solution during this weekend.😃

    0_1480952640095_upload-333fe90d-3b5d-4329-9c6d-12edbdcaa6f0

    roomba620_mod

    But I have a problem. Maybe you could answer or someone from the forum.
    I can not wake up my vacuum (roomba 620) from the state of "suspension" to whose passes automatically after 5 minutes. (all diodes off). Complete code is on end of post.

    0_1480953181292_upload-2cb7e05b-938a-4d19-b41e-fcb7f25e6327

    From old documentation "Roomba_SCI_Spec_Manual.pdf" wake up should looks like this

    ser.setRTS (0)
    time.sleep (0.1)
    ser.setRTS (1)
    time.sleep (2)
    

    I can do it "hardware". It means when my yellow cabel from "DD" during insertion into arduino pinMode(D3, OUTPUT) ... roomba weak up all times.

    But when cable is connect to D3 permanently and try send few times signals like this.

    	digitalWrite(D3, LOW); delay(10); 
    	digitalWrite(D3, HIGHT); delay(2);
    

    It didnt work.

    Of course it wake up when i push button "clean" by finger. Did you have similar problem ❓
    My full code is little more complicate and right now looks like this:

    
    #define MY_BAUD_RATE 115200
    
    // 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 MY_RF24_CHANNEL	76   // brama - kuchnia 
    
    #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 <SoftwareSerial.h>
    #include <MySensors.h>
    
    
    #define NUMBER_OF_FUNCTION 7 
    #define NUMBER_OF_SENSORS 6 
    
    int ddPin = 3;
    int rxPin = 6;
    int txPin = 7;
    
    
    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" };
    
    
    
    //for sensorgetting
    
    #define ROOMBA_READ_TIMEOUT 300
    #define ROOMBA_WAKE_COUNT 10
    
    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 = 60000; // 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
    };
    
    // Initialize messages
    
    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);
    
    		if (myComand == 1) {
    			switch (mySensor) {
    			case 0:
    				Serial.println("Stop");
    				rstop();
    				break;
    			case 1:
    				Serial.println("Dock");
    				rcommand(143);
    				break;
    			case 2:
    				Serial.println("Clean");
    				rcommand(135);
    				break;
    			case 3:
    				Serial.println("Spot");
    				rcommand(134);
    				break;
    			case 4:
    				Serial.println("Max");
    				rcommand(136);
    				break;
    			case 5:
    				Serial.println("Power-Off");
    				rcommand(133);
    				break;
    			case 6:
    				Serial.println("Song");
    				rcommand(141);
    				rsong(0);
    				break;
    			}
    		}
    	}
    }
    
    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("wekup: ");
    	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;
    }
    


  • Hi Eoreh

    Maybe problem is in this line:
    digitalWrite(D3, HIGHT); delay(2);

    Did you defined HIGHT symbol?

    Actually I did it this way:

    void WakeUp()
    {
      pinMode(DEVICE_DETECT_PIN, OUTPUT);
      digitalWrite(DEVICE_DETECT_PIN, HIGH);
      delay(1000);
      digitalWrite(DEVICE_DETECT_PIN, LOW);
      delay(1000);
      digitalWrite(DEVICE_DETECT_PIN, HIGH);
    }
    

    and it works flawlessly (Ihave other problem with hanging NRF24, but it is another case)



  • Hi !
    My bad. I type mistake in post on forum. In code is good version. Of course You have right should be "HIGH"

    But You give me some idea on "problem in line D3" . I plugin my logic analizer (Saleae) and bingo!. In my egz. arduino this port was "broken" and dont give any change signal. I plugin into D5 and all works. 😍

    I have one small issue / feature. After play song -> (in my code upper this song is Jingle bell for Chrismas) - roomba dont react on buttons. I think i will change this. Also statistic is very bad write. It's also for rewrite.

    Now i have to do more test, and next make looking good case for "node" on roomba. (cos mother-in-law - kill me 🙂 ). But right now im very happy.

    Thank you @emka for your replay.



  • Hello Eoreh,

    I have a older Roomba and had the same idea to control it by my sensors. I only did a other approach.
    I did not mondify the Roomba with a serial interface and a MySensors node on the Roomba. But I did put a MySensors node on the docking station. And control the clean/spot/max command by imitation of the IR commands with a IR Led on the MySensors Node. And I also detect with my nod if the Roomba is in his dock charging or not. With this dock notification I measure the amount of time the Roomba is on its way before it returns to its dock charging (which is also a indication of the quality of the Roomba battery, short time away is a bad battery). I also measure the room temperature and humidity with the same node.
    If you want to know the code let me know I show you.
    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.
    See the pictures in the link of this setup: alt text



  • 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.



  • 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");
    }
    


  • 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



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



  • 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.

    1. 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

    2. finding a spot was easy:
      alt text
      There is enough space on the side of the bin. (In picture, the external charging port was already removed)

    3. 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" 😉
      alt text

    4. all in place and ready to be closed again
      alt text

    5. closed without top plate
      alt text

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



  • @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



  • @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;
    }
    
    

  • Mod

    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?



  • @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



  • 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...


  • Mod

    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 😂


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