Page 210 - Hacking Roomba
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Chapter 10 — Using Roomba as an Input Device 191
status
power
clean
spot
max
dirt
detect
FIGURE 10-1: Roomba movements, right turns shown
Listing 10-1 shows the heart of RoombaSketch, a Processing sketch that turns Roomba into a
mouse input for a vector drawing program. It has the following features:
The distance and angle sensors become a virtual mouse pointer.
The left and right bump sensors increment or decrement the drawing pen size.
The Spot button becomes the main mouse button for starting or stopping drawing.
The Clean button resets the cursor position to center of screen.
The Power button quits the program.
It draws a Roomba icon to show where the cursor is and how it’s oriented.
