AmyPhung / roomba

Experimenting with my new house pet: the Roomba

Roomba

The household pet that picks up after itself

Repo Dependencies

• Joystick node

To upload code via command-line

Setting up Arduino IDE

1. Download Linux version of the Arduino IDE
2. Extract arduino folder to the downloads folder, then move it to /opt: (eg: arduino-#.#.# is arduino-1.8.5 for arduino 1.8.5)

cd Downloads/
sudo mv arduino-#.#.# /opt

3. Run the install.sh executable inside the arduino folder:

cd /opt/arduino-#.#.#/
sudo ./install.sh

4. Set permissions (give user access to Arduino when its plugged into USB)

sudo adduser $USER dialout

You'll need to log out and log back in for the changes to take effect

Setting up Arduino makefile

Based on instructions here: https://github.com/sudar/Arduino-Makefile

1. mkdir ~/dev && cd ~/dev/
2. git clone https://github.com/sudar/Arduino-Makefile.git
3. Install PySerial sudo apt-get install python-serial or sudo pip install pyserial

Uploading code

From the /src/firmwware/ directory:

1. Compile code make
2. Upload the Arduino code make upload

Pinout

• Arduino-side:
  • Black: Ground
  • White: Pin 3
  • Grey: Pin 4
  • Purple: Pin 5
• Roomba-side:
  • Black: Pin 6
  • White: Pin 4 (Roomba TX)
  • Grey: Pin 3 (Roomba RX)
  • Purple: Pin 5 (Device Detect)

Startup

• Click and hold roomba "on" button until a series of tones play - this changes the baud rate from the default 115200 to 19200 (what we'll be using)
• roslaunch roomba bringup_min.launch

Notes

• List usergroups: groups $USER
• Create udev rules for kinect (based on https://forum.openframeworks.cc/t/solved-linux-kinect-1473-on-of9/22031/3 and https://elinux.org/Accessing_Devices_without_Sudo)
  • cd /etc/udev/rules.d
  • sudo gedit 66-kinect.rules
• Update udev rules: sudo udevadm trigger
• Kinect cannot be plugged into a USB hub

https://cdn-shop.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf  Serial sequence: [137] [Velocity high byte] [Velocity low byte] [Radius high byte] [Radius low byte]  Available in modes: Safe or Full  Changes mode to: No Change  Velocity (-500 – 500 mm/s)  Radius (-2000 – 2000 mm) Special cases: Straight = 32768 or 32767 = 0x8000 or 0x7FFF Turn in place clockwise = -1 = 0xFFFF Turn in place counter-clockwise = 1 = 0x0001

Python to Arduino comms

// Parse serial input from Python and convert to twistCmd // Data example 1: SL+100A+100E // Data example 2: SL-45A+30E

// S = 83 // L = 76 // A = 65 // E = 69 // + = 43 // - = 45 // CR = 10

// 0 = 48 // 1 = 49 // 2 = 50 // ...

Arduino to Python comms

L_ENC //value R_ENC //value

TODO

• implement heartbeat & e-stopped state
• Add robustness check for serial
• create state controller
• get vacuum to work