Page 342 - Hacking Roomba

Chapter 14 — Putting Linux on Roomba 323

Listing 14-4 Continued

printf “Usage: $0 {serialport} “.

“{init|forward|backward|spinleft|spinright|stop}\n”;
exit(1);
}
sub roomba_init() {
# this style stty is for linux
system(“stty -F $PORT 57600 raw -parenb -parodd cs8 -hupcl
-cstopb clocal”);
printf “\x80” > $PORT; sleep 0.2;
printf “\x82” > $PORT; sleep 0.2;
}
sub roomba_forward() {
$vel=”\x00\xc8”;
$rad=”\x80\x00”;
printf “\x89$vel$rad” > $PORT;
}
sub roomba_backward() {
$vel=”\xff\x38”;
$rad=”\x80\x00”;
printf “\x89$vel$rad” > $PORT;
}
sub roomba_spinleft() {
$vel=”\x00\xc8”;
$rad=”\x00\x01”;
printf “\x89$vel$rad” > $PORT;
}
sub roomba_spinright() {
$vel=”\x00\xc8”;
$rad=”\xff\xff”;
printf “\x89$vel$rad” > $PORT;
}
sub roomba_stop() {
$vel=”\x00\x00”;
$rad=”\x00\x00”;
printf “\x89$vel$rad” > $PORT;
}

# If not enough arguments were passed, return
usage() if( @ARGV < 2 );
$PORT = $ARGV[0];
$CMD = $ARGV[1];
if( $CMD eq ‘init’ ) {
roomba_init();
}
elsif( $CMD eq ‘forward’ ) {
roomba_forward();
}
Continued