Roomba
Plugin to connect to a Roomba. Read Sensors, Start/Stop.
Supported Hardware
Selected Roomba robo cleaners
Requirements
Communication either needs Bluetooth or Ethernet.
Bluetooth
For Bluetooth bluez is needed
To install operating system bluetooth support run
sudo apt-get install bluez
Choose socket_type = ‚bt‘ and add the Roomba Bluetooth-Mac in socket_addr = XX:XX:XX:XX:XX:XX
Ethernet
!!! Not tested yet !!!
Choose socket_type = 'tcp' and add the IP and Port of your Roomba-Remote in
socket_addr = 192.168.2.123 and socket_port = 1234
Good doocumentation to Roombas SCI: http://www.robotiklubi.ee/_media/kursused/roomba_sumo/failid/hacking_roomba.pdf
Connection:
There are several possibilities to connect to Roomba Serial Port. This was tested with a DIY-bluetooth-modul. This can be done in do-it-yourself or you can buy it i.e. „FT41 BlueRoom“ from Fussel-Tronic. Not tested is a connection trough a wifi-rs232 adapter.
Configuration
plugin.yaml:
roomba:
class_name: Roomba
class_path: plugins.roomba
cycle: 240 #0=deactivate reading sensors
socket_type: bt #tcp or bt
socket_addr: 00:13:04:11:14:77 # MAC for Bluetooth, IP for TCP
socket_port: 1234
item.yaml:
There are 3 attributes wich can be used with the Roomba-Plugin:
roomba_cmd = xxxHere you can use one of the following commands (clean, dock, power_off, spot, max) and the Roomba will do it. You can also define a „driving scene“:roomba_cmd = backward | 2 | stop | 2 | cleanIntegers are sleep times in this moment. The above example drives 2 seconds backward, stops for 2 seconds and begins to clean. There are the following commands available: forward (100mm/s) backward (100mm/s) spin_left spin_right stoproomba_get = xxxUse the following item.yaml to see how to configure the item for your wanted sensor. I think the names are self explaining.roomba_raw = [123]To send integers to Roomba following the documentation of Roomba SCI as List!
roomba:
commands:
clean:
enforce_updates: 'true'
name: clean
type: bool
roomba_cmd: clean
dock:
enforce_updates: 'true'
name: dock
type: bool
roomba_cmd: dock
power_off:
enforce_updates: 'true'
name: power_off
type: bool
roomba_cmd: power_off
spot:
enforce_updates: 'true'
name: spot
type: bool
roomba_cmd: spot
max:
enforce_updates: 'true'
name: max
type: bool
roomba_cmd: max
test_scene:
enforce_updates: 'true'
# drives backward for 2 seconds, then spins left for 2 seconds, then drives forward for 3 seconds, then spins right for 3 seconds, then stops and starts to clean after 2 seconds
name: test-drive
type: bool
roomba_cmd:
- backward
- '2'
- spin_left
- '2'
- forward
- '3'
- spin_right
- '3'
- stop
- '2'
- clean
raw:
stop:
type: bool
enforce_updates: 'true'
roomba_raw:
- '137'
- '0'
- '0'
- '0'
sensors:
current:
# current in mA
enforce_updates: 'true'
type: num
roomba_get: current
temperature:
# temperature in degrees celsius
enforce_updates: 'true'
type: num
roomba_get: temperature
voltage:
# voltage in mV
enforce_updates: 'true'
type: num
roomba_get: voltage
button_clean:
# clean button pressed
enforce_updates: 'true'
type: bool
roomba_get: buttons_clean
capacity:
# capacity in mA
enforce_updates: 'true'
type: num
roomba_get: capacity
charge:
# charge in mA
enforce_updates: 'true'
type: num
roomba_get: charge
angle:
# angle since last request
enforce_updates: 'true'
type: num
roomba_get: angle
distance:
# distance since last request
enforce_updates: 'true'
type: num
roomba_get: distance
buttons_max:
enforce_updates: 'true'
type: bool
roomba_get: buttons_max
buttons_clean:
enforce_updates: 'true'
type: bool
roomba_get: buttons_clean
buttons_spot:
enforce_updates: 'true'
type: bool
roomba_get: buttons_spot
buttons_power:
enforce_updates: 'true'
type: bool
roomba_get: buttons_power
remote_opcode:
enforce_updates: 'true'
type: num
roomba_get: remote_opcode
dirt_detect_right:
enforce_updates: 'true'
type: bool
roomba_get: dirt_detect_right
dirt_detect_left:
enforce_updates: 'true'
type: bool
roomba_get: dirt_detect_left
motor_overcurrent_side_brush:
enforce_updates: 'true'
type: bool
roomba_get: motor_overcurrent_side_brush
motor_overcurrent_vacuum:
enforce_updates: 'true'
type: bool
roomba_get: motor_overcurrent_vacuum
motor_overcurrent_main_brush:
enforce_updates: 'true'
type: bool
roomba_get: motor_overcurrent_main_brush
motor_overcurrent_drive_left:
enforce_updates: 'true'
type: bool
roomba_get: motor_overcurrent_drive_left
virtual_wall:
enforce_updates: 'true'
type: bool
roomba_get: virtual_wall
cliff_right:
enforce_updates: 'true'
type: bool
roomba_get: cliff_right
cliff_front_right:
enforce_updates: 'true'
type: bool
roomba_get: cliff_front_right
cliff_front_left:
enforce_updates: 'true'
type: bool
roomba_get: cliff_front_left
cliff_left:
enforce_updates: 'true'
type: bool
roomba_get: cliff_left
wall:
enforce_updates: 'true'
type: bool
roomba_get: wall
bumps_wheeldrops_bump_right:
enforce_updates: 'true'
type: bool
roomba_get: bumps_wheeldrops_bump_right
bumps_wheeldrops_bump_left:
enforce_updates: 'true'
type: bool
roomba_get: bumps_wheeldrops_bump_left
bumps_wheeldrops_wheeldrop_right:
enforce_updates: 'true'
type: bool
roomba_get: bumps_wheeldrops_wheeldrop_right
bumps_wheeldrops_wheeldrop_left:
enforce_updates: 'true'
type: bool
roomba_get: bumps_wheeldrops_wheeldrop_left
bumps_wheeldrops_wheeldrop_caster:
enforce_updates: 'true'
type: bool
roomba_cmd: bumps_wheeldrops_wheeldrop_caster