Roomba hello world

gistfile1.txt

/*
 * RoombaBumpTurn 
 * --------------
 * Implement the RoombaComm BumpTurn program in Arduino
 * A simple algorithm that allows the Roomba to drive around 
 * and avoid obstacles.
 * 
 * Arduino pin 0 (RX) is connected to Roomba TXD
 * Arduino pin 1 (TX) is connected to Roomba RXD
 * Arduino pin 2      is conencted to Roomba DD
 * 
 * Updated 20 November 2006
 * - changed Serial.prints() to use single print(v,BYTE) calls instead of 
 *    character arrays until Arduino settles on a style of raw byte arrays
 *
 * Created 1 August 2006
 * copyleft 2006 Tod E. Kurt <tod@todbot.com>
 * http://hackingroomba.com/
 */

int rxPin = 0;
int txPin = 1;
int ddPin = 2;
int ledPin = 13;
char sensorbytes[10];

#define bumpright (sensorbytes[0] & 0x01)
#define bumpleft  (sensorbytes[0] & 0x02)

void setup() {
//  pinMode(txPin,  OUTPUT);
  pinMode(ddPin,  OUTPUT);   // sets the pins as output
  pinMode(ledPin, OUTPUT);   // sets the pins as output
  Serial.begin(57600);

  digitalWrite(ledPin, HIGH); // say we're alive

  // wake up the robot
  digitalWrite(ddPin, HIGH);
  delay(100);
  digitalWrite(ddPin, LOW);
  delay(500);
  digitalWrite(ddPin, HIGH);
  
  
  // wait 2 seconds, flashing....
  for(int i=0;i<20;i++){
    digitalWrite(ledPin, LOW);
    delay(50);
    digitalWrite(ledPin, HIGH);
    delay(50);
  }
  digitalWrite(ledPin, LOW);
  
  // set up ROI to receive commands  
  Serial.write(128);  // START
  delay(50);
  Serial.write(130);  // CONTROL
  delay(50);
  
    // wait 2 seconds, flashing....
  for(int i=0;i<20;i++){
    digitalWrite(ledPin, LOW);
    delay(50);
    digitalWrite(ledPin, HIGH);
    delay(50);
  }
  digitalWrite(ledPin, LOW);
}

void loop() {  
  digitalWrite(ledPin, HIGH); // say we're starting loop
//  spinRight();
  goForward2();
  delay(500);
  digitalWrite(ledPin, LOW); // say we're starting loop

//  spinLeft();
  goBackward2();
  delay(500);
}

void spinLeft() {
  Serial.write(137 );   // DRIVE
  Serial.write(0x00);   // 0x00c8 == 200
  Serial.write(0xc8);
  Serial.write(0x00);
  Serial.write(0x01);   // 0x0001 == spin left
}
void spinRight() {
  Serial.write(137);   // DRIVE
  Serial.write(0x00);   // 0x00c8 == 200
  Serial.write(0xc8);
  Serial.write(0xff);
  Serial.write(0xff);   // 0xffff == -1 == spin right
}

void goForward() {
  Serial.write(137);   // DRIVE
  Serial.write(0x00);   // 0x00c8 == 200
  Serial.write(0xc8);
  Serial.write(0x80);
  Serial.write(0x00);
}
void goBackward() {
  Serial.write(137);   // DRIVE
  Serial.write(0xff);   // 0xff38 == -200
  Serial.write(0x38);
  Serial.write(0x80);
  Serial.write(0x00);
}
void goForward2() {
  Serial.print(char(137));   // DRIVE
  Serial.print(char(0x00));   // 0x00c8 == 200
  Serial.print(char(0xc8));
  Serial.print(char(0x80));
  Serial.print(char(0x00));
}
void goBackward2() {
  Serial.print(char(137));   // DRIVE
  Serial.print(char(0xff));   // 0xff38 == -200
  Serial.print(char(0x38));
  Serial.print(char(0x80));
  Serial.print(char(0x00));
}



void updateSensors() {
  Serial.write(142);
  Serial.write(1);  // sensor packet 1, 10 bytes
  delay(100); // wait for sensors 
  char i = 0;
  while(Serial.available()) {
    int c = Serial.read();
    if( c==-1 ) {
      for( int i=0; i<5; i ++ ) {   // say we had an error via the LED
        digitalWrite(ledPin, HIGH); 
        delay(50);
        digitalWrite(ledPin, LOW);  
        delay(50);
      }
    }
    sensorbytes[i++] = c;
  }    
}