PyRoombaAdapter

A Python library for Roomba Open Interface

Downloads image1 image2

What is this?

This is a python library for Roomba Open Interface(ROI)

This module is based on the document:

It aims to control a Roomba easily.

This module is only tested on Roomba 690 model.

Install

You can use pip to install it.

$ pip install pyroombaadapter

Requirements

  • Python 3.6.x or higher (2.7 is not supported)

  • pyserial

Documentation

Please check the document for all API and usages.

Usage examples

All examples are in examples directory.

Click each image to see each example movie.

Go and back example

image3

This example uses “move” API.

"""
    Go and back example with roomba
"""
from time import sleep
import math
from pyroombaadapter import PyRoombaAdapter

PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.move(0.2, math.radians(0.0))  # go straight
sleep(1.0)
adapter.move(0, math.radians(-20))  # turn right
sleep(6.0)
adapter.move(0.2, math.radians(0.0))  # go straight
sleep(1.0)
adapter.move(0, math.radians(20))  # turn left
sleep(6.0)

Play song1

image4

This example uses “send_song_cmd” and “send_play_cmd” API.

"""
    Play Darth Vader song
"""
from time import sleep

from pyroombaadapter import PyRoombaAdapter

PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)

adapter.send_song_cmd(0, 9,
                      [69, 69, 69, 65, 72, 69, 65, 72, 69],
                      [40, 40, 40, 30, 10, 40, 30, 10, 80])
adapter.send_play_cmd(0)
sleep(10.0)

Play song2

image5

This example uses “send_song_cmd” and “send_play_cmd” API.

"""
    Play namidaga kirari by spitz
"""
from time import sleep

from pyroombaadapter import PyRoombaAdapter

PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)

adapter.send_song_cmd(0, 10,
                      [66, 67, 69, 67, 66, 62, 64, 66, 67, 66],
                      [16, 16, 16, 32, 32, 16, 16, 16, 16, 64])

sleep(1.0)
adapter.send_song_cmd(1, 9,
                      [66, 67, 69, 67, 66, 71, 59, 62, 61],
                      [16, 16, 16, 32, 32, 32, 16, 16, 64])

sleep(1.0)
adapter.send_song_cmd(2, 13,
                      [62, 64, 61, 62, 64, 66, 62, 64, 66, 67, 64, 66, 71],
                      [16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16])
sleep(1.0)
adapter.send_song_cmd(3, 7,
                      [71, 67, 64, 62, 61, 62, 62],
                      [16, 16, 16, 16, 48, 16, 64])

sleep(3.0)
adapter.send_play_cmd(0)
sleep(4.0)
adapter.send_play_cmd(1)
sleep(4.0)
adapter.send_play_cmd(0)
sleep(4.0)
adapter.send_play_cmd(1)
sleep(4.0)
adapter.send_play_cmd(2)
sleep(4.0)
adapter.send_play_cmd(3)
sleep(4.0)

Read sensors

There are two ways how to read sensor values. Request manually on demand:

"""
    Read Roomba sensors
"""
from time import sleep
from pyroombaadapter import PyRoombaAdapter

PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.change_mode_to_passive()

# Request sensor value manually
print(adapter.request_charging_state())
print(adapter.request_voltage())
print(adapter.request_current())
print(adapter.request_temperature())
print(adapter.request_charge())
print(adapter.request_capacity())
print(adapter.request_oi_mode())

Start a data stream:

"""
    Read Roomba sensors
"""
from time import sleep
from pyroombaadapter import PyRoombaAdapter

PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.change_mode_to_passive()

# Read sensor value from data stream
adapter.data_stream_start(
    ["Charging State", "Voltage", "Current", "Temperature", "Battery Charge", "Battery Capacity", "OI Mode"])
sleep(1)
print(adapter.data_stream_read())
sleep(1)
print(adapter.data_stream_read())
sleep(1)
print(adapter.data_stream_read())
sleep(1)
adapter.data_stream_stop()

Contribution

Any contributions to this project are welcome!

Feel free to make an issue and a PR to improve this OSS.

License

MIT

Authors

Contents:

Indices and tables