#ROBOTC ARDUINO FULL#
Safe Mode: Gives you full control of Roomba, with the exception of the following safety-related conditions: When the OI is in Passive mode, you can request and receive sensor data using any of the sensor commands, but you cannot change the current command parameters for the actuators (motors, speaker, lights, low side drivers, digital outputs) to something else.
Its velocity goes up to 500 mm/s and can be commanded to go upward or backward.įor signalization, we can count with four 7 segments display and 5 LEDs (see figure):Īs internal sensors, we have among others:įor programming, the document: iRobot® Create® 2 Open Interface (OI) should be used. Other microcontrollers and single board computers.The Roomba is a differential drive robot, with 2 wheels and a front caster.Microcontrollers, FPGA & Single Board Computers.A la Carte(ALC) Custom PCB Design Services.
#ROBOTC ARDUINO HOW TO#
#ROBOTC ARDUINO CODE#
It seems to me the concepts set out by the RobotC code offers the perfect solution. I have spent many hours on trying to come up with a way to get the bot to travel in a straight line using some aspect of PID that is not overly complex for this relatively simple task. It uses integers only and math that does not result in floats. If the motors moved at exactly the same speed, this value would be 0.Īnother important aspect of the RobotC straight line code is it does not use floats or other data types that consume large amounts of microprocessor resources. Negative if slave has to slow down, positive if it has to speed up. My limited programming experience/skills do not allow me to simply translate RobotC to an Arduino sketch C which I am currently learning.Īs explained at the above web page the difference between the master encoder and the slave encoder ticks can be used to determine error. This concept was presented at the web page below which uses RobotC for programming. In this situation Error = speed_Master - speed_Slave However, as expected, the bot cannot travel in straight line.Ĭoncept: Keep it simple by having one motor serve as the speed master and the other as a speed slave, where the master motor speed is held constant and the slave motor speed is varied so as to match the master motor speed. Great precision is not needed for this challenge therefore, limited tracking (drift) back and forth across the straight line path is acceptable.Ĭurrent situation: The bot has been tested and it goes forward, backwards, turns etc.
Hobbyist Situation: Good hardware/electronics skills, just learning how to program.Ĭhallenge: Creating a sketch that will allow the bot to travel in a straight line for some distance, turnaround and travel back to the start point. Project: Arduino robot with motors equipped with hall effect quadrature encoders.
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