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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.
#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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