Irobot Create Open Interface Modes - iRobot CREATE - OPEN INTERFACE Manual

iRobot Create Open Interface Modes

The Create OI has four operating modes: Off, Passive,
Safe, and Full. After a battery change or when is first
supplied, the OI is in "off" mode. When it is off, the OI listens
at the default baud rate (57600 or 19200 - see Serial Port
Settings above) for an OI Start command. Once it receives
the Start command, you can enter into any one of the four
operating modes by sending a mode command to the OI.
You can also switch between operating modes at any time
by sending a command to the OI for the operating mode
that you want to use.
Passive Mode
Upon sending the Start command or any one of the demo
commands (which also starts the specific demo, e.g., Spot
Cover, Cover, Cover and Dock, or Demo), the OI enters
into Passive mode. When the OI is in Passive mode, you
can request and receive sensor data using any of the
sensors commands, but you cannot change the current
command parameters for the actuators (motors, speaker,
lights, low side drivers, digital outputs) to something else.
To change how one of the actuators operates, you must
switch from Passive mode to Full mode or Safe mode.
While in Passive mode, you can read Create's sensors,
watch Create perform any one of its ten built-in demos,
and charge the battery.
Safe Mode
When you send a Safe command to the OI, Create enters into
Safe mode. Safe mode gives you full control of Create, with
the exception of the following safety-related conditions:
• Detection of a cliff while moving forward (or moving
backward with a small turning radius, less than one robot
radius).
• Detection of a wheel drop (on any wheel).
• Charger plugged in and powered.
Should one of the above safety-related conditions occur
while the OI is in Safe mode, Create stops all motors and
reverts to the Passive mode.
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
Full Mode
When you send a Full command to the OI, Create enters
into Full mode. Full mode gives you complete control over
Create, all of its actuators, and all of the safety-related
conditions that are restricted when the OI is in Safe mode,
as Full mode shuts off the cliff, wheel-drop and internal
charger safety features. To put the OI back into Safe mode,
you must send the Safe command.
If no commands are sent to the OI when in Full 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 Full Mode.
6