iRobot CREATE - OPEN INTERFACE Manual
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iRobot CREATE - OPEN INTERFACE Manual

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Summary of Contents for iRobot CREATE - OPEN INTERFACE

  • Page 1 Create ® OPEN INTERFACE www.irobot.com...

  • Page 2: Table Of Contents

    Actuator Commands ................9 Input Commands ..................13 Script Commands .................15 Wait Commands ...................15 iRobot Create Open Interface Sensor Packets .........17 iRobot Create Open Interface Commands Quick Reference ....... iRobot Create Open Interface Sensor Packets Quick Reference ....4 iRobot Create Open Interface (OI) Specification...

  • Page 3: Irobot Create® Open Interface Overview

    Create’s serial port by way of a PC or microcontroller that is connected to the Mini-DIN connector or Cargo Bay Connector. Anatomy Omnidirectional IR Receiver Handle 6-32 Mounting Cavities Tailgate Mini-Din Cargo Bay Charging Socket DB-25 iRobot Create Open Interface (OI) Specification...

  • Page 4: Physical Connections

    PC serial ports use different voltages (rs232 levels), it is Digital output 0 0 - 5V, 20 mA digital output from Create necessary to shift voltage levels. To do this, use an iRobot Digital output 2 0 - 5V, 20 mA digital output from Create...

  • Page 5: Serial Port Settings

    Data bits: 8 Parity: None Stop bits: 1 Flow control: None By default, iRobot Create communicates at 57600 baud. If you are using a microcontroller that does not support 57600 baud, there are two ways to force Create to switch to 19200: Method 1: When powering on Create, hold down the Play button.

  • Page 6: Irobot Create Open Interface Modes

    If no commands are sent to the OI when in Safe mode, Create waits with all motors and LEDs off and does not respond to Play or Advance button presses or other sensor input. Note that charging terminates when you enter Safe Mode. iRobot Create Open Interface (OI) Specification...

  • Page 7: Open Interface Command Reference

    Open Interface Command Reference The following is a list of all of iRobot Create’s Open Inter face Baud Code Baud Rate in BPS commands. Each command starts with a one-byte opcode. Some of the commands must be followed by data bytes.

  • Page 8: Demo Commands

    Demo Commands Number Demo Description Identical to the Home demo, except The following are commands to star t iRobot Create’s Create drives into multiple virtual walls built-in demos. by bumping into one, turning around, driving to the next virtual wall, bumping...

  • Page 9: Actuator Commands

    Opcode: 145 Data Bytes: 4 This command lets you control the forward and backward The following commands control iRobot Create’s actuators: motion of Create’s drive wheels independently. It takes wheels, speaker, LEDS, digital outputs and low side four data bytes, which are interpreted as two 16-bit signed driver outputs.
  • Page 10 • Low Side Drivers data byte 2: Duty cycle for low side driver 1 (0 - 128) • Low Side Drivers data byte 3: Duty cycle for low side driver 0 (0 - 128) iRobot Create Open Interface (OI) Specification...
  • Page 11 1 (pin 23 on the Cargo Bay Connector), using the This command lets you specify up to sixteen songs to the OI format expected by iRobot Create’s IR receiver. You must that you can play at a later time. Each song is associated use a preload resistor (suggested value: 100 ohms) in with a song number.
  • Page 12 987.8 7902.1 130.8 1046.5 8372.0 138.6 1108.7 8869.8 146.8 1174.7 9397.3 155.6 1244.5 9956.1 164.8 1318.5 10548.1 174.6 1396.9 11175.3 185.0 1480.0 11839.8 196.0 1568.0 12543.9 207.7 1661.2 220.0 1760.0 233.1 1864.7 246.9 1975.5 iRobot Create Open Interface (OI) Specification...

  • Page 13: Input Commands

    This command lets you select a song to play from the songs of packets requested. added to iRobot Create using the Song command. You must This command lets you ask for a list of sensor packets. add one or more songs to Create using the Song command The result is returned once, as in the Sensors command.
  • Page 14 The list of packets requested is sent every 15 ms, which is at 57600 baud, a maximum of 86 bytes can be sent in 15 ms: the rate iRobot Create uses to update data. 15 ms / 10 bits (8 data + start + stop) * 57600 = 86.4...

  • Page 15: Script Commands

    Opcode: 153 Data Bytes: 0 This command loads a previously defined OI script into the The following commands let you specify a script for iRobot Create serial input queue for playback. to play at a later time. • Serial sequence: [153]...
  • Page 16 To wait for the inverse of an event, send the negative of its number using two’s complement notation. For example, This command causes iRobot Create to wait until it has to wait for no bumps, send the serial byte sequence [158] traveled the specified distance in mm.

  • Page 17: Irobot Create Open Interface Sensor Packets

    The state of the cliff sensor on the left side of Create is Motor n/a n/a n/a Left Wheel Right Wheel LD-2 LD-0 LD-1 sent as a 1 bit value (0 = no cliff, 1 = cliff). Range: 0 – 1 iRobot Create Open Interface (OI) Specification...
  • Page 18 Field This value identifies the IR byte currently being received Red Buoy, Green Buoy and by iRobot Create. A value of 255 indicates that no IR byte Force Field is being received. These bytes include those sent by the Roomba Remote, the Home Base, Create robots using the Send IR command, and user-created devices.
  • Page 19 Data Bytes: 1 signed signed The angle in degrees that iRobot Create has turned since the The temperature of Create’s battery in degrees Celsius. angle was last requested is sent as a signed 16-bit value, high Range: -128 – 127 byte first.
  • Page 20 Example Schematic Charging Sources Available Packet ID: 34 Data Bytes: 1 unsigned iRobot Create’s connection to the Home Base and Internal 10K Ohms Charger are returned as individual bits, as below. DIGITAL_INPUT Range: 0 - 3 1 = charging source present and powered; 0 = charging source not present or not powered.
  • Page 21 Packet ID: 4 Data Bytes:  signed The left wheel velocity most recently requested with a Drive Direct command is returned as a signed 16-bit number, high byte first. Range: -500 - 500 mm/s iRobot Create Open Interface (OI) Specification...

  • Page 22: Irobot Create Open Interface Commands Quick Reference

    Show Script Wait Time Time (0 – 255 seconds/10) Wait Distance Distance (-32767 - 32768 mm) Wait Angle Angle (-32767 - 32768 degrees) Wait Event Event ID (1 to 20 and -1 to -20) iRobot Create Open Interface (OI) Specification...
  • Page 23 0 = green, 255 = red. Intermediate values are intermediate colors (orange, yellow, etc). LEDs data byte 3: Power LED Intensity (0 – 255) 0 = off, 255 = full intensity. Intermediate values are intermediate intensities. iRobot Create Open Interface (OI) Specification...

  • Page 24: Irobot Create Open Interface Sensor Packets Quick Reference

    -128 - 127 degrees Celsius Motor n/a n/a n/a Left Right Wheel Wheel Side Side Side 25 Battery Charge 0 - 65535 Driver 2 Driver 0 Driver 1 26 Battery Capacity 0 - 65535 iRobot Create Open Interface (OI) Specification...
  • Page 25 Safe Full ©2006 iRobot Corporation. All rights reserved. iRobot, Roomba and Virtual Wall are registered trademarks of iRobot Corporation. Home Base and Create are trademarks of iRobot Corporation. U.S. Pat. Nos. 6,594,844 6,690,134, and 6,809,490. Other patents pending. iRobot Create Open Interface (OI) Specification...

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