Page 440 - Hacking Roomba

Appendix C — iRobot Roomba Open Interface (ROI) Specification 421

iRobot® Roomba® Open Interface (ROI) Specification

Leds data byte 2: Power Color (0 – 255) Note Number Table for Song Command (with Frequency in Hz)
0 = green, 255 = red. Intermediate values are intermediate Number Note Frequency Number Note Frequency
colors.
31 G 49.0 80 G# 830.6
Leds data byte 3: Power Intensity (0 – 255) 32 G# 51.0 81 A 880.0
0 = off, 255 = full intensity. Intermediate values are intermediate 33 A 55.0 82 A# 932.3
intensities. 34 A# 58.3 83 B 987.8
35 B 61.7 84 C 1046.5
Example: 36 C 65.4 85 C# 1108.7
37 C# 69.3 86 D 1174.7
To turn on the dirt detect and spot LEDs, make the status 38 D 73.4 87 D# 1244.5
LED red, and to light the power LED green at half intensity, 39 D# 77.8 88 E 1318.5
send the serial byte sequence [139] [25] [0] [128]
40 E 82.4 89 F 1396.9
41 F 87.3 90 F# 1480.0
42 F# 92.5 91 G 1568.0
43 G 98.0 92 G# 1661.2
Song Command opcode: 140 Number of data bytes: 93 A 1760.0
2N + 2, where N is the 44 G# 103.8
number of notes in the song 45 A 110.0 94 A# 1864.7
46 A# 116.5 95 B 1975.5
Specifies a song to the ROI to be played later. Each song is
47 B 123.5 96 C 2093.0
associated with a song number which the Play command uses
48 C 130.8 97 C# 2217.5
to select the song to play. Users can specify up to 16 songs
49 C# 138.6 98 D 2349.3
with up to 16 notes per song. Each note is specified by a note
50 D 146.8 99 D# 2489.0
number using MIDI note definitions and a duration specified
in fractions of a second. The number of data bytes varies 51 D# 155.6 100 E 2637.0
depending on the length of the song specified. A one note song 52 E 164.8 101 F 2793.8
is specified by four data bytes. For each additional note, two data 53 F 174.6 102 F# 2960.0
bytes must be added. The ROI must be in passive, safe, or full 54 F# 185.0 103 G 3136.0
mode to accept this command. This command does not change 55 G 196.0 104 G# 3322.4
the mode. 56 G# 207.7 105 A 3520.0
Serial sequence: [140] [Song Number] [Song Length] [Note 57 A 220.0 106 A# 3729.3
Number 1] [Note Duration 1] [Note Number 2] [Note Duration 2] 58 A# 233.1 107 B 3951.1
etc. 59 B 246.9 108 C 4186.0
60 C 261.6 109 C# 4434.9
Song data byte 1: Song Number (0 – 15)
Specifies the number of the song being specified. If you send 61 C# 277.2 110 D 4698.6
a second Song command with the same song number, the old 62 D 293.7 111 D# 4978.0
song will be overwritten. 63 D# 311.1 112 E 5274.0
64 E 329.6 113 F 5587.7
Song data byte 2: Song Length (1 – 16) 114 F# 5919.9
Specifies the length of the song in terms of the number of notes. 65 F 349.2
66 F# 370.0 115 G 6271.9
Song data bytes 3, 5, 7, etc.: Note Number (31 – 127) 67 G 392.0 116 G# 6644.9
Specifies the pitch of the note to be played in terms of the MIDI 68 G# 415.3 117 A 7040.0
note numbering scheme. The lowest note that Roomba can 118 A# 7458.6
play is note number 31. See the note number table for specific 69 A 440.0 119 B 7902.1
notes. Any note number outside of the range of 31 to 127 will 70 A# 466.2
be interpreted as a rest note and no sound will be played during 71 B 493.9 120 C 8372.0
this note duration. 72 C 523.3 121 C# 8869.8
73 C# 554.4 122 D 9397.3
Song data bytes 4, 6, 8, etc.: Note Duration (0 – 255) 123 D# 9956.1
Specifies the duration of the note in increments of 1/64 of a 74 D 587.3
second. Therefore, half-second long note will have a duration 75 D# 622.3 124 E 10548.1
value of 32. 76 E 659.3 125 F 11175.3
77 F 698.5 126 F# 11839.8
78 F# 740.0 127 G 12543.9
79 G 784.0
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