Page 380 - Hacking Roomba

Chapter 15 — RoombaCam: Adding Eyes to Roomba 361

The result is something like in Figure 15-20. However, there is a small change to the control
panel. A new button called Snapshot has been added. As you drive around exploring the world
from the robot’s perspective, it would be nice to be able to save the current image. It would also
be useful to save the Roomba sensor state at that point.

FIGURE 15-20: The finished command center

The snapshot command copies the current live webcam image to an archive location (the flash
drive). It also dumps the current sensor state of Roomba to a text file. With both a webcam
image and sensor telemetry data, you can reconstruct what Roomba was doing and remember
your adventures. Listing 15-7 shows the changes needed to be made to roombapanel.cgi.

Listing 15-7: Changes to roombapanel.cgi to Add Snapshot Capability

if [ “$cmd” ] ; then
echo “cmd: $cmd”
if [ “$cmd” = “snapshot” ] ; then
echo “saving image and sensors to $SNAPPATH!”
cp $PICPATH “$SNAPPATH.tif”
$ROOMBACMD -p $PORT -- sensors-raw > \
“$SNAPPATH-sensors.txt”
Continued