Page 122 - Hacking Roomba

Chapter 5 — Driving Roomba 103

status
power
Small circle
clean
spot
max
detect
dirt

status
power
Waggle
clean
spot
max
dirt
detect

status
power
Expanding spiral
clean
spot
max
dirt
detect

FIGURE 5-7: Common preprogrammed Roomba moves

Listing 5-4: The Main Loop of Waggle.java

while( !done ) {
roombacomm.drive(200,600);
roombacomm.pause(250);
roombacomm.drive(200,-600);
roombacomm.pause(250);
}