Mark Williams / Mbed 2 deprecated roomba-song

Controls an iRobot Roomba over serial - makes it sing and dance using the song, play, and drive commands.

Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 0:127ba41bb428, committed 2012-04-02

Comitter:
skudmunky
Date:
Mon Apr 02 16:46:28 2012 +0000
Commit message:
basic functionality of Roomba control

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 127ba41bb428 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 02 16:46:28 2012 +0000
@@ -0,0 +1,212 @@
+// roomba-song
+// by Mark Williams
+// 4/2/2012
+//
+// Simple code for iRobot Roomba 560
+// makes the robot dance around and play "for whom the bell tolls"
+
+#include "mbed.h"
+
+InterruptIn button(p11);
+Serial device(p9, p10);  // tx, rx
+
+
+void roombastop() {
+    // Stop
+    device.putc(137);   // Drive
+    device.putc(0x00);
+    device.putc(0x00);
+    device.putc(0x00);
+    device.putc(0x00);
+}
+
+void roombacw() {
+    // Turn in place clockwise
+    device.putc(137);   // Drive
+    device.putc(0x00);  // Velocity: 0x00c8 = 200
+    device.putc(0xc8);
+    device.putc(0xff);  // Radius: 0x0001 = Turn in place clockwise
+    device.putc(0xff);
+
+}
+
+void roombaccw() {
+    // Turn in place counter-clockwise
+    device.putc(137);   // Drive
+    device.putc(0x00);  // Velocity: 0x00c8 = 200
+    device.putc(0xc8);
+    device.putc(0x00);  // Radius: 0x0001 = Turn in place counter-clockwise
+    device.putc(0x01);
+}
+
+
+void roombaforward() {
+    // Forward
+    device.putc(137);   // Drive
+    device.putc(0x00);  // Velocity: 0x00c8 = 200
+    device.putc(0xc8);
+    device.putc(0x80);  // Radius: 0x8000 = Straight
+    device.putc(0x00);
+}
+
+void roombabackward() {
+    // Backward
+    device.putc(137);   // Drive
+    device.putc(0xff);  // Velocity: 0xff38 = -200
+    device.putc(0x38);
+    device.putc(0x80);  // Radius: 0x8000 = Straight
+    device.putc(0x00);
+}
+
+
+void dance() {
+
+}
+
+int main() {
+    device.baud(115200);    // the default baud rate of Roomba 530
+    //device.baud(19200);
+
+    // Start
+    device.putc(128);   // Start -> Passive Mode
+    wait(.05);
+    device.putc(130);   // Safe Mode
+    wait(.05);
+    
+    wait(1);
+
+    // for whom the bell tolls bass riff
+    // D  C#  C  B  DB  G  F#  D  D  C#
+    // load a song
+    device.putc(140);   // Song
+    device.putc(1);   // Song number
+    device.putc(11);  // Song length (0x0A = 11)
+    
+    device.putc(50);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(49);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(48);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(47);  // Note 
+    device.putc(32);  // Note length
+    
+    device.putc(50);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(47);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(43);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(42);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(50);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(38);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(37);  // Note 
+    device.putc(32);  // Note length
+    
+    
+    // load a song
+    device.putc(140);   // Song
+    device.putc(2);   // Song number
+    device.putc(11);  // Song length (0x0A = 11)
+    
+    device.putc(62);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(61);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(60);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(59);  // Note 
+    device.putc(32);  // Note length
+    
+    device.putc(62);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(59);  // Note 
+    device.putc(8);  // Note length
+    
+    device.putc(55);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(54);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(62);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(50);  // Note 
+    device.putc(16);  // Note length
+    
+    device.putc(49);  // Note 
+    device.putc(32);  // Note length
+    
+    roombacw();
+    wait(.5);
+    roombaccw();
+    wait(.5);
+   // roombastop();
+    //roombaforward();
+   // wait(0.5);
+    //roombastop();
+    roombastop();
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    wait(3);
+    roombacw();
+    wait(.5);
+    roombaccw();
+    wait(.5);
+    roombastop();
+    
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    wait(3);
+    roombacw();
+    wait(.5);
+    roombaccw();
+    wait(.5);
+    roombastop();
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    roombaccw();
+    wait(3);
+    roombacw();
+    wait(.5);
+    
+    // play a song
+    device.putc(141);  // Play
+    device.putc(2);    // song #2
+    
+    roombaccw();
+    wait(0);
+    roombastop();  
+    
+    
+    wait(6);
+
+    // Passive Mode
+    device.putc(128);   // Start -> Passive Mode
+}
\ No newline at end of file

diff -r 000000000000 -r 127ba41bb428 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Apr 02 16:46:28 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479