roomba_wifi

Description

Resurrect your old Roomba! Add Wifi connectivity and control it from anyway!

Project has been done in Amiqual4Home Equipex Creativity Lab - https://amiqual4home.inria.fr/

Prerequisities

• Spark Core with latest firmware updates :

  sudo particle flash --usb cc3000
  sudo particle flash --usb deep_update_2014_06
  

• OR spark photon with latest firmware https://github.com/spark/firmware/releases

• Roomba - here model R3MOD24A - Unfortunately, commands can be sent to Roomba trew UART but INPUT commands are not received : no activity on Roomba Tx

Setup

hardware

• For this model, no input on external connector can be used to wake up roomba. Clean button is configured in pullup, when pressed it is grounded through 1k resistor. Connecting button input to D0 through 8k resistor gives control on it.

• A support has been done to put photon near DC connector

• After soldering it, roomba can be closed... Modification is now invisible. Photon led and buttons :

Commands

Command line syntax :

curl https://api.spark.io/v1/devices/SPARK_CORE_ID/roombaAPI -d access_token='YOUR_TOKEN' -d "params=CMD_NAME"

Control commands

• CMD_NAME =

  • AFTER THESE COMMANDS ROOMBA IS IN PASSIVE MODE
    • GOHOME
    • CLEAN

  • AFTER THESE COMMANDS ROOMBA IS IN SAFE MODE

    • FORWARD
    • BACK
    • LEFT
    • RIGHT
    • STOP
    • SONG
    • VACUUMON
    • VACUUMOFF
    • VIBGYOR : leds

  • GAINCONTROL

  • FREECONTROL
  • POWERON
  • POWEROFF

ex :

curl https://api.spark.io/v1/devices/SPARK_CORE_ID/roombaAPI -d access_token='YOUR_TOKEN' -d "params=SONG"
{
  "id": "ID",
  "last_app": "",
  "connected": true,
  "return_value": 0
}

Input commands

Return value as integer in "return_value" field

• CMD_NAME =

  • AFTER THESE COMMANDS ROOMBA IS IN PASSIVE MODE
    • GETMODE
    • return value

  1 OFF
  2 PASSIVE
  3 SAFE
  4 FULL
  

  • GETMODE
    • return value : current roomba charge in mAh

ex :

curl https://api.spark.io/v1/devices/SPARK_CORE_ID/roombaAPI -d access_token='YOUR_TOKEN' -d "params=GETMODE"
{
  "id": "ID",
  "last_app": "",
  "connected": true,
  "return_value": 1
}

References

• https://community.particle.io/t/sparkbot-spark-core-roomba/625
• https://community.particle.io/t/getting-mac-address-of-unconnected-core/8473/5
• http://blog.particle.io/2014/08/06/control-the-connection/

TODO

• get another Roomba to handle input commands!