Page 308 - Hacking Roomba

Chapter 13 — Giving Roomba a New Brain and Senses 289

Listing 13-3 Continued

pinMode(ddPin, OUTPUT); // sets the pin as output
pinMode(ledPin, OUTPUT); // sets the pin as output
Serial.begin(57600);
digitalWrite(ledPin, HIGH); // say we’re alive
// wake up the robot
digitalWrite(ddPin, LOW);
delay(100);
digitalWrite(ddPin, HIGH);
delay(2000);
// set up ROI to receive commands
Serial.print(128, BYTE); // START
delay(50);
Serial.print(130, BYTE); // CONTROL
delay(50);
digitalWrite(ledPin, LOW); // say we’ve finished setup
}

void loop() {
digitalWrite(ledPin, HIGH); // say we’re starting loop
updateSensors();
digitalWrite(ledPin, LOW); // say we’re after updateSensors
if( bumpleft ) {
spinRight();
delay(1000); // spinning @ 200 for 1 sec == ~90 degrees
}
else if( bumpright ) {
spinLeft();
delay(1000);
}
goForward();
}
void goForward() {
char c[] = {137, 0x00,0xc8, 0x80,0x00}; // 0x00c8 == 200
Serial.print( c );
}
void goBackward() {
char c[] = {137, 0xff,0x38, 0x80,0x00}; // 0xff38 == -200
Serial.print( c );
}
void spinLeft() {
char c[] = {137, 0x00,0xc8, 0x00,0x01};
Serial.print( c );
}
void spinRight() {
char c[] = {137, 0x00,0xc8, 0xff,0xff};
Serial.print( c );
}

Continued