Page 214 - Hacking Roomba

Chapter 10 — Using Roomba as an Input Device 195

tilting Roomba left and right you can get a few bits of resolution by combining the cliff sensors
with the wheeldrop sensors. Figure 10-5 shows how Roomba can be used to detect variations
in tilt. The scale of the tilt is a bit exaggerated in the diagram to demonstrate the effect. Since
the theremin glides from one pitch to the next, having relative pitch adjustments via tilting
actually works pretty well.

FIGURE 10-4: Leon Theremin
and his musical instrument

No sensors triggered
Pitch change = 0

Left cliff sensor triggered
Pitch change = +1

Left cliff & front left cliff sensors triggered
Pitch change = +2

Left cliff & front left cliff & left wheeldrop triggered
Pitch change = +3

FIGURE 10-5: Tilting Roomba for pitch control