Difference between revisions of "Roomba - vacuuming robots"
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The Roomba proprietary Serial Command Interface is available here: [http://www.irobot.lv/uploaded_files/File/iRobot_Roomba_500_Open_Interface_Spec.pdf iRobot Roomba Open Interface (OI) Specification]. | The Roomba proprietary Serial Command Interface is available here: [http://www.irobot.lv/uploaded_files/File/iRobot_Roomba_500_Open_Interface_Spec.pdf iRobot Roomba Open Interface (OI) Specification]. | ||
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| + | To interface with the Roomba Serial Port you need a USB - Serial adapter (for 0-5V signals, NOT RS232 levels!). You can find the schematics and the PCB layout of such an adapter here: [http://airwiki.elet.polimi.it/mediawiki/index.php/Useful_Circuits#USB_-_Serial_adapter_.28iRobot_Roomba_variant.29 USB - Serial adapter (iRobot Roomba variant)] | ||
=== Hacking the Roomba === | === Hacking the Roomba === | ||
Revision as of 18:49, 30 June 2010
Roomba is a low-cost robot produced by iRobot. It is intended to be a commercial cleaning robot, however with little to no modification it can become a powerful educational/hobbyist robotics platform.
Contents
Sensors & Actuators
The Roomba comes with these basic sensors:
- Four IR based cliff sensors
- Two bump sensors
- One wall sensor
- A top mounted IR sensor. Used by Virtual Walls, Docking Station, and Remote Control
- One Dirt Detector (acoustic impact). Some Roombas have two.
The Roomba is sold commercially as a mobile vacuum cleaner, thus it also has these actuators:
- Two wheels drive with differential drive
- One main brush motor
- A side brush motor
- A Vacuum motor.
Communication protocol
The Roomba proprietary Serial Command Interface is available here: iRobot Roomba Open Interface (OI) Specification.
To interface with the Roomba Serial Port you need a USB - Serial adapter (for 0-5V signals, NOT RS232 levels!). You can find the schematics and the PCB layout of such an adapter here: USB - Serial adapter (iRobot Roomba variant)
Hacking the Roomba
Make your own Roomba-serial, Roomba-USB or Roomba-bluetooth dongle.
Schedule
If you need to move a Roomba from the lab, you should first ask to Andrea Bonarini, and then fill in the table below.
| ID | Test | Notes | Where/Who | Project |
|---|---|---|---|---|
| #1 | OK | AIRLab | ||
| #2 | OK | AIRLab | ||
| #3 | Collaudato (Matteo) | AIRLab | ||
| #4 | OK | + Batteria roomba #6 | Paolo Belluco | |
| #5 | KO (bumper) | AIRLab | ||
| #6 | KO (bumper) | AIRLab | ||
| #7 | KO (alimentazione) | AIRLab | ||
| #8 | Collaudato (Simone) | AIRLab | ||
| #9 | Collaudato (Martino) | USB cable and white battery charger borrowed | Andrea Scalise, Niccolò Tenti | Roomba project |
