iRobot CREATE - OPEN INTERFACE Manual page 23

Baud Code (0 – 11)
Baud Code Baud Rate in BPS
0 300
1 600
2 1200
3 2400
4 4800
5 9600
6 14400
7 19200
8 28800
9 38400
10 57600
11 115200
LEDs Data Byte 1: LED Bits (0 – 10)
Advance and Play use green LEDs: 0 = off, 1 = on
Bit
7 6 5 4
LED n/a n/a n/a n/a Advance
LEDs Data Bytes  and 3: Power LED Color and Intensity (0 - 55)
Power uses a bicolor (red/green) LED. The intensity and
color of this LED can be controlled with 8-bit resolution.
LEDs data byte 2: Power LED Color (0 – 255)
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
3 2 1
n/a Play
Digital Outputs Data Byte 1: Output Bits (0 –7)
0 = low (0V); 1 = high (5V).
The digital outputs can provide up to 20 mA of current.
Bit
7 6
Output
Low Side Drivers Data Byte 1: Output bits (0 – 7)
0 = off, 1 = on at 100% pwm duty cycle
Bit 7 6
Output
0
n/a
5 4 3 2 1
digital output digital output
2 (pin 20) 1 (pin 7)
5 4 3 2 1
Low Side Low Side
Driver 2 Driver 1
0
digital output
0 (pin 19)
0
Low Side
Driver 0
3