Related Manuals for iRobot ROOMBA - SERIAL COMMAND INTERFACE
Summary of Contents for iRobot ROOMBA - SERIAL COMMAND INTERFACE
- Page 1 Roomba ® ® Serial Command Interface (SCI) Specification w w w.iro bo t. co m © 2005 iRobot Corporation. All rights reserved. iRobot and Roomba are registered trademarks of iRobot Corporation.
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Page 2: Serial Port Settings
October, 2005 contain an electronic and software interface Data bits: 8 that allows you to control or modify Roomba’s behavior and Parity: None remotely monitor its sensors. This interface is called the iRobot Stop bits: 1 Roomba Serial Command Interface or Roomba SCI. Flow control: None Roomba SCI is a serial protocol that allows users to control a By default, Roomba communicates at 57600 baud. - Page 3 Roomba® Serial Command Interface (SCI) Specification SCI Modes Roomba SCI Commands Listed below are the commands that users send to the SCI over The Roomba SCI has four operating modes: off, passive, safe, to the serial port in order to control Roomba. Each command and full.
- Page 4 Roomba® Serial Command Interface (SCI) Specification Safe Command opcode: 131 Number of data bytes: 0 Serial sequence: [137] [Velocity high byte] [Velocity low byte] [Radius high byte] [Radius low byte] This command puts the SCI in safe mode. The SCI must be in full mode to accept this command.
- Page 5 Roomba® Serial Command Interface (SCI) Specification Leds data byte 2: Power Color (0 – 255) Note Number Table for Song Command (with Frequency in Hz) 0 = green, 255 = red. Intermediate values are intermediate number note Frequency number...
- Page 6 Roomba® Serial Command Interface (SCI) Specification play Command opcode: 141 Number of data bytes: 1 Plays one of 16 songs, as specified by an earlier Song command. If the requested song has not been specified yet, the Play command does nothing. The SCI must be in safe or full mode to accept this command.
- Page 7 Roomba® Serial Command Interface (SCI) Specification Roomba SCI Sensor Packets Cliff Front Right Packet subset: 1 The robot will send back one of four different sensor data Range: 0 – 1 packets in response to a Sensor command, depending on the value of the packet code data byte.
- Page 8 Roomba® Serial Command Interface (SCI) Specification Remote Control Command Charging State Packet subset: 2 Packet subset: 3 Range: 0 – 255 (with some values unused) Range: 0 – 5 Data type: 1 byte, unsigned Data type: 1 byte, unsigned The command number of the remote control command currently A code indicating the current charging state of Roomba.
- Page 9 Roomba® Serial Command Interface (SCI) Specification Roomba SCI Commands Quick Reference baud data byte 1: Baud Code (0 – 9) Command opcode Data Data Data Data etc. byte 1 byte 2 byte 3 byte 4 baud code baud rate in bps...
- Page 10 Roomba® Serial Command Interface (SCI) Specification Roomba SCI Sensors Quick Reference bumps Wheeldrops packet Code packet Size 26 bytes 10 bytes Sensor n/a n/a n/a Wheeldrop Bump Bump 6 bytes Left Right Caster Left Right 10 bytes motor overcurrents...
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