roomba

func (*Roomba) ButtonPush ¶

func (this *Roomba) ButtonPush(button byte) error

func (*Roomba) Clean ¶

func (this *Roomba) Clean() error

Clean command starts the default cleaning mode.

func (*Roomba) Control ¶

func (this *Roomba) Control() error

Control command's effect and usage are identical to the Safe command.

func (*Roomba) DirectDrive ¶

func (this *Roomba) DirectDrive(right, left int16) error

DirectDrive command lets you control the forward and backward motion of Roomba’s drive wheels independently. It takes two 16-bit signed values. The first specifies the velocity of the right wheel in millimeters per second (mm/s), The next one specifies the velocity of the left wheel A positive velocity makes that wheel drive forward, while a negative velocity makes it drive backward. Right wheel velocity (-500 – 500 mm/s). Left wheel velocity (-500 – 500 mm/s).

func (*Roomba) Drive ¶

func (this *Roomba) Drive(velocity, radius int16) error

Drive command controls Roomba’s drive wheels. It takes two 16-bit signed values. The first one specifies the average velocity of the drive wheels in millimeters per second (mm/s). The next one specifies the radius in millimeters at which Roomba will turn. The longer radii make Roomba drive straighter, while the shorter radii make Roomba turn more. The radius is measured from the center of the turning circle to the center of Roomba. A Drive command with a positive velocity and a positive radius makes Roomba drive forward while turning toward the left. A negative radius makes Roomba turn toward the right. Special cases for the radius make Roomba turn in place or drive straight. A negative velocity makes Roomba drive backward. Velocity is in range (-500 – 500 mm/s), radius (-2000 – 2000 mm). Special cases: straight = 32768 or 32767 = ex 8000 or 7FFF, turn in place clockwise = -1, turn in place counter-clockwise = 1

func (*Roomba) Full ¶

func (this *Roomba) Full() error

Full command gives you complete control over Roomba by putting the OI into Full mode, and turning off the cliff, wheel-drop and internal charger safety features.

func (*Roomba) LEDDisplay ¶

func (this *Roomba) LEDDisplay(data []byte) error

LEDDisplay displays data in the 7 segment display.

func (*Roomba) LEDs ¶

func (this *Roomba) LEDs(check_robot, dock, spot, debris bool, power_color, power_intensity byte) error

LEDs command controls the LEDs common to all models of Roomba 500. The Clean/Power LED is specified by two data bytes: one for the color and the other for the intensity. Color: 0 = green, 255 = red. Intermediate values are intermediate colors (orange, yellow, etc). Intensitiy: 0 = off, 255 = full intensity. Intermediate values are intermediate intensities.

func (*Roomba) MainBrush ¶

func (this *Roomba) MainBrush(on bool, defaultDir bool) error

MainBrush controls the main brush motor.

func (*Roomba) Open ¶

func (this *Roomba) Open(baud uint) error

Configures and opens the given serial port.

func (*Roomba) Passive ¶

func (this *Roomba) Passive() error

Passive switches Roomba to passive mode by sending the Start command.

func (*Roomba) PauseStream ¶

func (this *Roomba) PauseStream()

PauseStream command lets you stop steam without clearing the list of requested packets.

func (*Roomba) Play ¶

func (this *Roomba) Play(num byte) error

Play lets you select a song num to play from the songs added to Roomba using the Song command. You must add one or more songs to Roomba using the Song function in order for the Play command to work.

func (*Roomba) Power ¶

func (this *Roomba) Power() error

Power command powers down Roomba.

func (*Roomba) PulseBRC ¶

func (this *Roomba) PulseBRC()

func (*Roomba) QueryList ¶

func (this *Roomba) QueryList(packet_ids []byte) ([][]byte, error)

QueryList 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.

func (*Roomba) Read ¶

func (this *Roomba) Read(p []byte) (n int, err error)

Reads bytes from the serial port.

func (*Roomba) ReadStream ¶

func (this *Roomba) ReadStream(packet_ids []byte, out chan<- [][]byte)

func (*Roomba) Reset ¶

func (this *Roomba) Reset() error

func (*Roomba) Safe ¶

func (this *Roomba) Safe() error

Safe sends the OI into Safe mode, enabling user control of Roomba. It turns off all LEDs.

func (*Roomba) SeekDock ¶

func (this *Roomba) SeekDock() error

SeekDock command sends Roomba to the dock.

func (*Roomba) Sensors ¶

func (this *Roomba) Sensors(packet_id byte) ([]byte, error)

Sensors command requests the OI to send a packet of sensor data bytes. There are 58 different sensor data packets. Each provides a value of a specific sensor or group of sensors.

func (*Roomba) Song ¶

func (this *Roomba) Song(num byte, notes ...byte) error

func (*Roomba) Spot ¶

func (this *Roomba) Spot() error

Spot command starts the Spot cleaning mode.

func (*Roomba) Start ¶

func (this *Roomba) Start(keepAlive bool) error

Start command starts the OI. You must always send the Start command before sending any other commands to the OI. Note: Use the Start command (128) to change the mode to Passive.

func (*Roomba) Stop ¶

func (this *Roomba) Stop() error

This command stops the OI. All streams will stop and the robot will no longer respond to commands. Use this command when you are finished working with the robot.

func (*Roomba) Stream ¶

func (this *Roomba) Stream(packet_ids []byte) (<-chan [][]byte, error)

Stream command starts a stream of data packets. The list of packets requested is sent every 15 ms, which is the rate Roomba uses to update data. This method of requesting sensor data is best if you are controlling Roomba over a wireless network (which has poor real-time characteristics) with software running on a desktop computer.

func (*Roomba) Write ¶

func (this *Roomba) Write(opcode byte, p []byte) error

Writes the given opcode byte and a sequence of data bytes to the serial port.

func (*Roomba) WriteByte ¶

func (this *Roomba) WriteByte(opcode byte) error

Writes a single byte to the serial port.