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");
}
