Page 368 - Hacking Roomba

Chapter 15 — RoombaCam: Adding Eyes to Roomba 349

Listing 15-4 Continued

-v, -- verbose=NUM Be verbosive (use more for more
verbose)
-f, -- forward Go forward at current speed
-b, -- backward Go backward at current speed
-l, -- spin-left Spin left at current speed
-r, -- spin-right Spin right at current speed
-s, -- stop Stop a moving Roomba
-w, -- wait=millis Wait some milliseconds
-v, -- velocity=val Set current speed to val (1 to
500)
-S, -- sensors Read Roomba sensors,display
nicely
-R, -- sensors-raw Read Roomba sensors,display in
hex
-- debug Print out boring details
Examples:
roombacmd -p /dev/ttyS0 -v 250 -- forward
roombacmd -p /dev/ttyS0 -- spin-left
roombacmd -p /dev/ttyS0 -- sensors
roombacmd -p /dev/ttyS0 -- stop
Notes:
- The ‘-p’ port option must be first option and is required.
- All options/commands can be cascaded & are executed in order,
like:
roombacmd -p /dev/ttyS0 -f -w 1000 -b -w 1000 -s
to go forward for 1 sec, go back for 1 sec, then stop.

Building roombacmd for OpenWrt
To immediately try out a version of roombacmd for OpenWrt, a pre-compiled ipkg package
has been made that you can fetch and install:
root@OpenWrt:~# wget http://roombahacking.com/software/openwrt/ i
roombacmd_1.0-1_mipsel.ipk
root@OpenWrt:~# ipkg install roombacmd_1.0-1_mipsel.ipk

You’ll then have /usr/bin/roombacmd at your disposal on your OpenWrt system.
Building a version of roombacmd for OpenWrt is not as easy as building it for a desktop OS,
because you have to cross-compile. That is, you have to produce an executable for one architec-
ture on another. This is what you did when producing Arduino sketches, but Arduino hides all
that from you. The language, GCC, is the same. But compiling embedded Linux programs is a