Irobot Create Open Interface Commands Quick Reference - iRobot CREATE - OPEN INTERFACE Manual

iRobot Create Open Interface
Commands Quick Reference
Create OI Commands Quick Reference Table
Command Opcode
Start 128
Baud 129
Control 130
Safe 131
Full 132
Spot 134
Cover 135
Demo 136
Drive 137
Low Side Drivers 138
LEDs 139
Song 140
Play 141
Sensors 142
Cover and Dock 143
PWM Low Side 144
Drivers
Drive Direct 145
Digital Outputs 147
Stream 148
Query List 149
Pause/Resume 150
Stream
Send IR 151
Script 152
Play Script 153
Show Script 154
Wait Time 155
Wait Distance 156
Wait Angle 157
Wait Event 158
iRobot Create Open Interface (OI) Specification
Data Bytes: 1 Data Bytes: 2
Baud Code: (0 – 11)
Demos (-1 - 9)
Velocity (-500 – 500 mm/s)
Output Bits (0 – 7)
LED Bits (0 – 10) Power LED Color
(0 – 255)
Song Number Song Length
(0 - 15) (1 - 16)
Song Number:
(0 – 15)
Packet ID: (0 – 42)
Low Side Driver 2 Low Side Driver 1
Duty Cycle (0 - 128) Duty Cycle (0 - 128)
Right wheel velocity (-500 – 500 mm/s)
Output Bits (0 –7)
Number of Packets Packet ID 1 (0 – 42) Packet ID 2, etc.
Packet ID 1 (0 – 42) Packet ID 2, etc.
Range: 0-1
Byte (0 - 255)
Script Length: Command Opcode 1 Command Data
(1 – 100)
Time (0 – 255
seconds/10)
Distance (-32767 - 32768 mm)
Angle (-32767 - 32768 degrees)
Event ID
(1 to 20 and
-1 to -20)
Data Bytes: 3 Data Bytes: 4
Radius (-2000 – 2000 mm)
Power LED Intensity
(0 – 255)
Note Number 1 Note Duration 1
(31 – 27) (0 - 255)
Low Side Driver 0
Duty Cycle (0 - 128)
Left wheel velocity (-500 – 500 mm/s)
Command Opcode 2 Etc.
Byte 1, etc.
Etc.
Note Number 2, etc.