Input Commands - iRobot CREATE - OPEN INTERFACE Manual

Play Song Opcode: 141
This command lets you select a song to play from the songs
added to iRobot Create using the Song command. You must
add one or more songs to Create using the Song command
in order for the Play command to work. Also, this command
does not work if a song is already playing. Wait until a
currently playing song is done before sending this command.
Note that the "song playing" sensor packet can be used to
check whether Create is ready to accept this command.
• Serial sequence: [141] [Song Number]
• Available in modes: Safe or Full
• Changes mode to: No Change
• Play Song data byte 1: Song Number (0 – 15)
The number of the song Create is to play.

Input Commands

The following commands let you read the state of Create's
built-in sensors, digital and analog inputs, and some internal
state variables. Create updates these values internally
every 15 ms. Do not send these commands more frequently
than that.
Sensors Opcode: 14
This command requests the OI to send a packet of sensor
data bytes. There are 43 different sensor data packets. Each
provides a value of a specific sensor or group of sensors.
For more information on sensor packets, refer to the next
section, "Create Open Interface Sensor Packets."
• Serial sequence: [142] [Packet ID]
• Available in modes: Passive, Safe, or Full
• Changes mode to: No Change
• Sensors data byte 1: Packet ID (0 - 42)
Identifies which of the 43 sensor data packets should be
sent back by the OI. A value of 6 indicates a packet with
all of the sensor data. Values of 0 through 5 indicate
specific subgroups of the sensor data (see Sensors
Quick Reference below).
iRobot Create Open Interface (OI) Specification
Data Bytes: 1 Query List
This command lets you ask for a list of sensor packets.
The result is returned once, as in the Sensors command.
The robot returns the packets in the order you specify.
• Serial sequence: [149][Number of Packets]
[Packet ID 1][Packet ID 2]...[Packet ID N]
• Available in modes: Passive, Safe, or Full
• Changes mode to: No Change
• Query List data byte 1: Number of packets requested
(0 - 255)
• Query List data bytes 2 - N: IDs of packets requested
(0 - 42)
Example:
To get the state of the left cliff sensor (packet 9) and
the Virtual Wall detector (packet 13), send the following
sequence:
[149] [2] [9] [13]
Data Bytes: 1
Opcode: 149 Data Bytes: N + 1,
where N is the number
of packets requested.
13