README_old.md

CrazyRoomba

Basic installation:

git clone https://github.com/bloudman/CrazyRoomba.git && cd CrazyRoobma && npm run setup
Then you can use: npm start to start server and watch the code.
If you just want to run the server you can run: npm run serve
If you just want to watch and build you can run: npm run build:watch
If you juste want to build then run: npm run build

How folders are organize?

/ contains everything about the server.
roomba-app contains client side
roomba-app/srccontains the angular 4 app
roomba-app/jsLibrariescontains js externals libraries including our Robot client library.
roomba-app/img you can use this folder to put images for the client side.

What the principle of the library

This library will allow you to speak with roomba from the server side or from the client side with almost exactly the same code. It is based on socket.io.

Client base code:

This code will connect you to the robot, stream all sensors, put it in fullMode and will make it move. The connection to socket.io is implicit.

var roomba = new Robot();

roomba.on("connected", function(){
    console.log("connected");
    roomba.fullMode();
    roomba.streamAllSensors();
    roomba.fullMode();
    roomba.driveDirect(128,128);

    setTimeout(function(){
    	roomba.driveDirect(-128,-128);
    	setTimeout(function(){
    		roomba.driveDirect(0,0);
    	},2000);
    }, 2000);


});

roomba.on("datas", function(datas){
	console.log(datas);
});

Difference between client side and server side

The only difference between server and client side is the synchronization of datas. To avoid socket.io surcharge datas are send from the server to the client only every 50ms by default. You can change this from the client or from the server side using this command:

roomba.changeInterval(interval in ms)

What can you ask to the robot?

With this library you can ask pretty much everything. Here is the method list available from the client side or from the server side:

_sendCommand(buffer)

Send a buffer command to the robot

---

passiveMode()

Put roomba in passiveMode

---

safeMode()

Put roomba in safeMode

---

fullMode()

Put roomba in fullMode

---

sing(notes)

---

drive(velocity, radius, direct=false)

---

driveDirect(leftMotor, rightMotor)

---

stop()

Stop roomba's motors and the demo

startDemo(number)

---

setLED(number, color, intensity)

---

setDigitalOuputPort(value)

---

setDigitalOutputPin(pin, state)

---

getDigitalOutputPort()

---

getDigitalOutputState(pin)

---

setPWLLowSideDrivers(driver1, driver2, driver3)

---

streamSensors(ids)

Ask roomba to stream you sensors

---

streamAllSensors()

Ask roomba to stream you all of his sensors

---

pauseStreaming()

Pause the streaming

---

resumeStreaming()

Resume streaming after pause

---

wait(time)

---

waitDistance(distance)

---

waitAngle(angle)

---

waitEvent(event)

---

Sensors we can use:

SensorName	ID	Unit
BumpsAndWheelDrops	7
CliffLeft	8
CliffFrontLeft	10
CliffFrontRight	11
CliffRight	12
VirtualWall	13
Overcurrents	14
IRByte	17
Buttons	18
Distance	19	mm
Angle	20	mm
ChargingState	21
Voltage	22
Current	23
BatteryTemperature	24
BatteryCharge	25
BatteryCapacity	26
WallSignal	27
CliffLeftSignal	28
CliffFrontLeftSignal	29
CliffFrontRightSignal	30
CliffRightSignal	31
UserDigitalInputs	32
UserAnalogInputs	33
ChargingSourcesAvailable	34
OIMode	35
SongNumber	36
SongPlaying	37
NumberOfStreamPackets	38
Velocity	39
Radius	40
RightVelocity	41
LeftVelocity	42

Events from the robot:

These events are not library ones but events to emit via waitEvent(event).

EventName	Id
wheel-drop	1
front-wheel-drop	2
left-wheel-drop	3
right-wheel-drop	4
bump	5
left-bump	6
right-bump	7
virtual-wall	8
wall	9
cliff	10
left-cliff	11
front-left-cliff	12
front-right-cliff	13
right-cliff	14
home-base	15
advance-button	16
play-button	17
digital-output-0	18
digital-output-1	19
digital-output-2	20
digital-output-3	21
passive	22

Differents demos:

DemoName	Id
abort	255
cover	0
cover-and-dock	1
spot-cover	2
mouse	3
drive-figure-eight	4
wimp	5
home	6
tag	7
pachelbel	8
banjo	9

Events from the library

The library is based on EventEmitter (client side and server side). So you can track an event like this:

roomba.on('event', function(data){
	console.log(data);
});

Client and server side:

connected

This event is send when the robot is connected

---

datas

Retrieve the array of asked sensors every 50ms (by default see changeEmission interval to change default settings)

---

Server side only

data

Single sensor data

---

errordata

The checksum of data receive is not correct

---

packetNotFound

The received data does not correspond to any sensor of the list... we drop the data because it is an incorrect one.

What happens when the robot is not correctly connected?

When the robot is not correctly connected the server will run in "FakeRobot mode". It will send to the client fake data for debugging purposes.

What's in the webApp folder?

There is a simple angularjs 1.6 app which allow you to show every sensors in HTML table and control it with your keyboard. (using zqzd)