Page 371 - Hacking Roomba

352 Part III — More Complex Interfacing

FIGURE 15-10: Roomba control panel CGI script in use

Putting It All Together

You now have all the components working and ready to assemble. Thankfully, there are no real
interdependencies, so the isolated tests above are valid. The first thing to do is get all the hard-
ware plugged in and working. Then you can finalize the software to control it all.

System Configuration
All the device drivers should be configured to load at boot. Listing 15-6 shows what the
/etc/modules file should end up looking like. The order is important. The general driver
(usb-serial, videodev, or so on) must be loaded before the device-specific driver (pl2303,
spca5xx_lite, or so on).

Listing 15-6: Final Contents of /etc/modules
root@OpenWrt:~# cat /etc/modules
wl
usbcore
usb-ohci