Forked from probonopd/Send infrared commands from the Arduino to the iRobot Roomba
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October 13, 2017 18:43
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Send infrared commands from the Arduino to the iRobot Roomba. Use a transistor to drive the IR LED from pin D3 for maximal range.
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#include <IRremote.h> | |
/* | |
Send infrared commands from the Arduino to the iRobot Roomba | |
by probono | |
2013-03-17 Initial release | |
Copyright (c) 2013 by probono | |
All rights reserved. | |
Redistribution and use in source and binary forms, with or without | |
modification, are permitted provided that the following conditions are met: | |
1. Redistributions of source code must retain the above copyright notice, this | |
list of conditions and the following disclaimer. | |
2. Redistributions in binary form must reproduce the above copyright notice, | |
this list of conditions and the following disclaimer in the documentation | |
and/or other materials provided with the distribution. | |
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND | |
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | |
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR | |
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | |
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | |
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND | |
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | |
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS | |
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | |
IR Remote Control | |
129 Left | |
130 Forward | |
131 Right | |
132 Spot | |
133 Max | |
134 Small | |
135 Medium | |
136 Large / Clean | |
137 Stop | |
138 Power | |
139 Arc Left | |
140 Arc Right | |
141 Stop | |
Scheduling Remote | |
142 Download | |
143 Seek Dock | |
Roomba Discovery Driveon Charger | |
240 Reserved | |
248 Red Buoy | |
244 Green Buoy | |
242 Force Field | |
252 Red Buoy and Green Buoy | |
250 Red Buoy and Force Field | |
246 Green Buoy and Force Field | |
254 Red Buoy, Green Buoy and Force | |
Roomba 500 Drive-on Charger | |
160 Reserved | |
161 Force Field | |
164 Green Buoy | |
165 Green Buoy and Force Field | |
168 Red Buoy | |
169 Red Buoy and Force Field | |
172 Red Buoy and Green Buoy | |
173 Red Buoy, Green Buoy and Force Field | |
Roomba 500 Virtual Wall | |
162 Virtual Wall | |
Roomba 500 Virtual Wall Lighthouse ###### (FIXME: not yet supported here) | |
0LLLL0BB | |
LLLL = Virtual Wall Lighthouse ID | |
(assigned automatically by Roomba | |
560 and 570 robots) | |
1-10: Valid ID | |
11: Unbound | |
12-15: Reserved | |
BB = Which Beam | |
00 = Fence | |
01 = Force Field | |
10 = Green Buoy | |
11 = Red Buoy | |
*/ | |
IRsend irsend; // hardwired to pin 3; use a transistor to drive the IR LED for maximal range | |
void setup() | |
{ | |
Serial.begin(9600); | |
} | |
void loop() | |
{ | |
// Read 3-digit code from serial line and send it via IR | |
char buffer[] = { | |
' ',' ',' ' }; // Receive up to 3 bytes | |
while (!Serial.available()); // Wait for characters | |
Serial.readBytesUntil('\n', buffer, 3); | |
int incomingValue = atoi(buffer); | |
if(incomingValue > 0) roomba_send(incomingValue); | |
delay(1000); | |
} | |
void roomba_send(int code) | |
{ | |
Serial.print("Sending Roomba code "); | |
Serial.print(code); | |
int length = 8; | |
unsigned int raw[length*2]; | |
unsigned int one_pulse = 3000; | |
unsigned int one_break = 1000; | |
unsigned int zero_pulse = one_break; | |
unsigned int zero_break = one_pulse; | |
int arrayposition = 0; | |
// Serial.println(""); | |
for (int counter = length-1; counter >= 0; --counter) { | |
if(code & (1<<counter)) { | |
// Serial.print("1"); | |
raw[arrayposition] = one_pulse; | |
raw[arrayposition+1] = one_break; | |
} | |
else { | |
// Serial.print("0"); | |
raw[arrayposition] = zero_pulse; | |
raw[arrayposition+1] = zero_break; | |
} | |
arrayposition = arrayposition + 2; | |
} | |
for (int i = 0; i < 3; i++) { | |
irsend.sendRaw(raw, 15, 38); | |
delay(50); | |
} | |
Serial.println(""); | |
/* | |
Serial.print("Raw timings:"); | |
for (int z=0; z<length*2; z++) { | |
Serial.print(" "); | |
Serial.print(raw[z]); | |
} | |
Serial.print("\n\n"); | |
*/ | |
} |
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