Roomba

java.lang.Object
- org.myrobotlab.framework.MessageService
- - org.myrobotlab.framework.Service
  - - org.myrobotlab.service.Roomba

All Implemented Interfaces:

java.io.Serializable, java.lang.Runnable, Attachable, Invoker, LoggingSink, MessageSender, MessageSubscriber, NameProvider, NameTypeProvider, ServiceInterface, ServiceQueue, StateSaver, TypeProvider, QueueReporter
```
public class Roomba
extends Service
```
Roomba - This service allows MRL to connect to a Roomba. The GUI Service provides the RoombaComm for manual control and testing. More Info: http://hackingroomba.com/code/roombacomm/

See Also:

Serialized Form

Field Summary

Fields
Modifier and Type Field and Description

static org.slf4j.Logger log
- Fields inherited from class org.myrobotlab.framework.Service
  cfgDir, dnaPool, MESSAGE_RECORDING_FORMAT_BINARY, MESSAGE_RECORDING_FORMAT_XML

Fields
Modifier and Type	Field and Description
`static org.slf4j.Logger`	`log`

Constructor Summary

Constructors
Constructor and Description

Roomba(java.lang.String n)

Constructors
Constructor and Description
`Roomba(java.lang.String n)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`bark()`
`boolean`	`bump()`
`void`	`bumpTurn()` Read sensors to detect bumps and turn away from them while driving
`void`	`clean()`
`void`	`computeSensors()` called by serialEvent when we have enough bytes to make sensors valid
`void`	`connect(java.lang.String portName)` Connect to a serial port specified by portid doesn't guarantee connection to Roomba, just to serial port
`boolean`	`connect(java.lang.String name, int rate, int databits, int stopbits, int parity)`
`boolean`	`connected()`
`void`	`control()`
`void`	`createTribblePurrSong()`
`boolean`	`disconnect()`
`void`	`drive(int velocity, int radius)` Move the Roomba via the low-level velocity + radius method.
`static ServiceType`	`getMetaData()` This static method returns all the details of the class without it having to be constructed.
`java.lang.String`	`getPortname()`
`java.util.List<java.lang.String>`	`getPortNames()`
`java.lang.String`	`getProtocol()`
`int`	`getSpeed()`
`void`	`goBackward()` Go backward at the current (negative) speed
`void`	`goBackward(int distance)`
`void`	`goBackwardAt(int aspeed)`
`void`	`goForward()` Go forward the current (positive) speed
`void`	`goForward(int distance)`
`void`	`goForwardAt(int aspeed)`
`void`	`goStraight(int distance)` Go straight at the current speed for a specified distance.
`void`	`goStraightAt(int velocity)` Go straight at a specified speed.
`boolean`	`isWaitForDSR()`
`java.lang.String[]`	`listPorts()`
`static void`	`main(java.lang.String[] args)`
`void`	`playNote(int i, int j)`
`void`	`powerOff()`
`void`	`printSensors()`
`void`	`purr()`
`void`	`reset()` Reset Roomba after a fault.
`boolean`	`send(byte[] cmd)`
`boolean`	`send(int b)`
`java.lang.String`	`sensorsAsString()`
`void`	`setHardwareHandshake(boolean hardwareHandshake)`
`void`	`setLEDs(boolean status_green, boolean status_red, boolean spot, boolean clean, boolean max, boolean dirt, int power_color, int power_intensity)`
`void`	`setPortname(java.lang.String p)`
`void`	`setProtocol(java.lang.String protocol)`
`void`	`setSpeed(int s)`
`void`	`setWaitForDSR(boolean waitForDSR)`
`void`	`spin(int angle)` Spin right or spin left a particular number of degrees
`void`	`spinLeft()` Spin in place anti-clockwise, at the current speed
`void`	`spinLeft(int angle)` Spin left a specified angle at a specified speed
`void`	`spinLeftAt(int aspeed)` Spin in place anti-clockwise, at the current speed.
`void`	`spinRight()` Spin in place clockwise, at the current speed
`void`	`spinRight(int angle)` Spin right the current speed for a specified angle
`void`	`spinRightAt(int aspeed)` Spin in place clockwise, at the current speed.
`void`	`spiro1(int velocity, int radius, int waittime)`
`void`	`spiro2(int velocity, int radius, int radius2, int waittime, int waittime2)`
`void`	`spot()`
`void`	`spy()` Spy on the Roomba as it goes about its normal business
`void`	`spyAuto()`
`void`	`spySimple()`
`void`	`square(RoombaComm rc, int size)` Make a square with a Roomba.
`void`	`startService()`
`void`	`startup()`
`void`	`stop()` Stop Rooomba's motion.
`void`	`tribble()`
`void`	`turn(int radius)`
`void`	`turnLeft()`
`void`	`turnRight()`
`boolean`	`updateSensors()`
`boolean`	`updateSensors(int packetcode)`
`void`	`vacuum(boolean state)` Turn all vacuum motors on or off according to state
`void`	`waggle(int velocity, int radius, int waittime)`
`void`	`wakeup()` toggles DD line via serial port DTR (if available)

Methods inherited from class org.myrobotlab.framework.Service
addListener, addListener, addTask, addTask, addTask, addTaskOneShot, allowDisplay, allowDisplay, attach, attach, broadcastState, buildDna, buildDna, buildDnaKeys, buildDnaNames, clearLastError, close, containsTask, copyShallowFrom, createPeer, createPeer, createRootReserved, detach, detach, detach, echoHeartbeat, error, error, error, getAttached, getCfgDir, getComm, getDeclaredMethodNames, getDeclaredMethods, getDescription, getDna, getDnaString, getHostName, getInbox, getInstanceId, getIntanceName, getInterfaceSet, getLastError, getMessageSet, getMetaData, getMethodMap, getMethodNames, getMethods, getMethodToolTip, getMsg, getName, getNotifyList, getNotifyListKeySet, getOutbox, getPeerKey, getPeerName, getServiceResourceFile, getSimpleName, getTasks, getThisThread, getType, hasError, hasPeers, help, help, in, info, info, invoke, invoke, invoke, invokeOn, isAttached, isAttached, isLocal, isReady, isRunning, isRuntime, isVirtual, load, load, logTimeEnable, mergeDna, mergeDna, mergePeerDna, movePeerDna, out, out, preProcessHook, preRoutingHook, publishError, publishQueueStats, publishState, publishStats, publishStatus, purgeTask, purgeTasks, releasePeers, releaseService, removeAllListeners, removeListener, requiresSecurity, reserve, reserve, reserveRoot, reserveRoot, reserveRootAs, run, save, save, save, send, send, send, send, sendBlocking, sendBlocking, sendBlocking, sendBlocking, sendPeer, setInstanceId, setName, setPeer, setSecurityProvider, setState, setThisThread, setVirtual, sleep, stackToString, startHeartbeat, startPeer, startPeer, startRecording, stopHeartbeat, stopMsgRecording, stopService, subscribe, subscribe, subscribe, toString, unsubscribe, unsubscribe, unsubscribe, updateStats, warn, warn

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

log

public static final org.slf4j.Logger log

Constructor Detail
- Roomba
```
public Roomba(java.lang.String n)
```

Method Detail

main

public static void main(java.lang.String[] args)

bark
```
public void bark()
```

bump
```
public boolean bump()
```

bumpTurn

public void bumpTurn()

Read sensors to detect bumps and turn away from them while driving

Run it with something like:

     java roombacomm.BumpTurn /dev/cu.KeySerial1

    Usage: 
    roombacomm.Drive serialportname [protocol] [options]
    where:
    protocol (optional) is SCI or OI
    [options] can be one or more of:
    -debug       -- turn on debug output
    -hwhandshake -- use hardware-handshaking, for Windows Bluetooth
    -nohwhandshake -- don't use hardware-handshaking

clean
```
public void clean()
```

computeSensors
```
public void computeSensors()
```
called by serialEvent when we have enough bytes to make sensors valid

connect
```
public void connect(java.lang.String portName)
```
Connect to a serial port specified by portid doesn't guarantee connection to Roomba, just to serial port

Parameters:

portName - name of port, e.g. "/dev/cu.KeySerial1" or "COM3"

connect

public boolean connect(java.lang.String name,
                       int rate,
                       int databits,
                       int stopbits,
                       int parity)

connected
```
public boolean connected()
```

control
```
public void control()
```

createTribblePurrSong
```
public void createTribblePurrSong()
```

disconnect
```
public boolean disconnect()
```

drive
```
public void drive(int velocity,
                  int radius)
```
Move the Roomba via the low-level velocity + radius method. See the 'Drive' section of the Roomba ROI spec for more details. Low-level command.

Parameters:

velocity - speed in millimeters/second, positive forward, negative backward

radius - radius of turn in millimeters

getPortname
```
public java.lang.String getPortname()
```

getPortNames

public java.util.List<java.lang.String> getPortNames()

getProtocol
```
public java.lang.String getProtocol()
```

getSpeed
```
public int getSpeed()
```
Returns:

speed for movement commands

goBackward
```
public void goBackward()
```
Go backward at the current (negative) speed

goBackward
```
public void goBackward(int distance)
```
Parameters:

distance - distance in millimeters, positive

goBackwardAt
```
public void goBackwardAt(int aspeed)
```

goForward
```
public void goForward()
```
Go forward the current (positive) speed

goForward
```
public void goForward(int distance)
```
Parameters:

distance - distance in millimeters, positive

goForwardAt
```
public void goForwardAt(int aspeed)
```

goStraight
```
public void goStraight(int distance)
```
Go straight at the current speed for a specified distance. Positive distance moves forward, negative distance moves backward. This method blocks until the action is finished.

Parameters:

distance - distance in millimeters, positive or negative

goStraightAt
```
public void goStraightAt(int velocity)
```
Go straight at a specified speed. Positive is forward, negative is backward

Parameters:

velocity - velocity of motion in mm/sec

isWaitForDSR
```
public boolean isWaitForDSR()
```

listPorts
```
public java.lang.String[] listPorts()
```

playNote

public void playNote(int i,
                     int j)

powerOff
```
public void powerOff()
```

printSensors
```
public void printSensors()
```

purr
```
public void purr()
```

reset
```
public void reset()
```
Reset Roomba after a fault. This takes it out of whatever mode it was in and puts it into safe mode. This command also syncs the object's sensor state with the Roomba's by calling updateSensors()

See Also:

startup(), updateSensors()

send
```
public boolean send(byte[] cmd)
```

send
```
public boolean send(int b)
```

sensorsAsString

public java.lang.String sensorsAsString()

setHardwareHandshake

public void setHardwareHandshake(boolean hardwareHandshake)

setLEDs

public void setLEDs(boolean status_green,
                    boolean status_red,
                    boolean spot,
                    boolean clean,
                    boolean max,
                    boolean dirt,
                    int power_color,
                    int power_intensity)

setPortname

public void setPortname(java.lang.String p)

setProtocol

public void setProtocol(java.lang.String protocol)

setSpeed
```
public void setSpeed(int s)
```

setWaitForDSR

public void setWaitForDSR(boolean waitForDSR)

spin
```
public void spin(int angle)
```
Spin right or spin left a particular number of degrees

Parameters:

angle - angle in degrees, positive to spin left, negative to spin right

spinLeft
```
public void spinLeft()
```
Spin in place anti-clockwise, at the current speed

spinLeft
```
public void spinLeft(int angle)
```
Spin left a specified angle at a specified speed

Parameters:

angle - angle in degrees, positive

spinLeftAt
```
public void spinLeftAt(int aspeed)
```
Spin in place anti-clockwise, at the current speed.

Parameters:

aspeed - speed to spin at

spinRight
```
public void spinRight()
```
Spin in place clockwise, at the current speed

spinRight
```
public void spinRight(int angle)
```
Spin right the current speed for a specified angle

Parameters:

angle - angle in degrees, positive

spinRightAt
```
public void spinRightAt(int aspeed)
```
Spin in place clockwise, at the current speed.

Parameters:

aspeed - speed to spin at, positive

spiro1

public void spiro1(int velocity,
                   int radius,
                   int waittime)

spiro2

public void spiro2(int velocity,
                   int radius,
                   int radius2,
                   int waittime,
                   int waittime2)

spot
```
public void spot()
```

spy
```
public void spy()
```
Spy on the Roomba as it goes about its normal business

spyAuto
```
public void spyAuto()
```

spySimple
```
public void spySimple()
```

square
```
public void square(RoombaComm rc,
                   int size)
```
Make a square with a Roomba. Leaves Roomba in same place it began (theoretically)

Parameters:

rc - RoombaComm object connected to a Roomba

size - size of square in mm

startService
```
public void startService()
```
Specified by:

startService in interface ServiceInterface

Overrides:

startService in class Service

startup
```
public void startup()
```

stop
```
public void stop()
```
Stop Rooomba's motion. Sends drive(0,0)

tribble
```
public void tribble()
```

turn
```
public void turn(int radius)
```

turnLeft
```
public void turnLeft()
```

turnRight
```
public void turnRight()
```

updateSensors
```
public boolean updateSensors()
```

updateSensors

public boolean updateSensors(int packetcode)

vacuum
```
public void vacuum(boolean state)
```
Turn all vacuum motors on or off according to state

Parameters:

state - true to turn on vacuum function, false to turn it off

waggle

public void waggle(int velocity,
                   int radius,
                   int waittime)

wakeup
```
public void wakeup()
```
toggles DD line via serial port DTR (if available)

getMetaData
```
public static ServiceType getMetaData()
```
This static method returns all the details of the class without it having to be constructed. It has description, categories, dependencies, and peer definitions.

Returns:

ServiceType - returns all the data

Class Roomba

Field Summary

Fields inherited from class org.myrobotlab.framework.Service

Constructor Summary

Method Summary

Methods inherited from class org.myrobotlab.framework.Service

Methods inherited from class java.lang.Object

Field Detail

log

Constructor Detail

Roomba

Method Detail

main

bark

bump

bumpTurn

clean

computeSensors

connect

connect

connected

control

createTribblePurrSong

disconnect

drive

getPortname

getPortNames

getProtocol

getSpeed

goBackward

goBackward

goBackwardAt

goForward

goForward

goForwardAt

goStraight

goStraightAt

isWaitForDSR

listPorts

playNote

powerOff

printSensors

purr

reset

send

send

sensorsAsString

setHardwareHandshake

setLEDs

setPortname

setProtocol

setSpeed

setWaitForDSR

spin

spinLeft

spinLeft

spinLeftAt

spinRight

spinRight

spinRightAt

spiro1

spiro2

spot

spy

spyAuto

spySimple

square

startService

startup

stop

tribble

turn

turnLeft

turnRight

updateSensors

updateSensors

vacuum

waggle

wakeup

getMetaData