Page 447 - Hacking Roomba

428 Index B–C
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brushes CF (Compact Flash) board, 298 computeRoombaLocation method, 148, 190
attaching, 171–174, 171–174 CGI (Common Gateway Interface), 351, 352 computeSensors method, 117–118
types of, 170 chalk, 170, 175 computing
bump sensors channelLoop method, 198–199 angles and distances, 37
for mouse simulation, 191 charge sensor packets, 424 position, 147–148
operation, 15 charging state sensor packets, 424 configuring
optical interrupters, 112, 112 circles, unit, 180, 180 Bluetooth interface, 82–83
bump turns Circuit Cellar magazine, 258 OpenWrt, 309–313, 309–313
Arduino for, 288–290 clamps for attaching brushes, 171–174, Telnet, 245
Basic Stamp for, 268–272 172–174 vision systems, 352–353
bumpLeft method, 120 classes for Bluetooth power, 67 WiMicro boards, 243–246, 243
bumpRight method, 120 Clean bit, 32 XPort, 223–225, 224
bumps wheeldrops sensor packets, 423 Clean button for mouse simulation, 191 connect method
BumpTurn.bs2 program, 270–272, 275 CLEAN command RoombaComm, 62, 85–87
BumpTurn.Java program, 122–123 modes for, 26 RoombaCommTCPClient, 226–227
BusyBox program, 302 opcodes and data bytes for, 28 connections, 396, 397
button sensors overview, 29 Bluetooth interface, 75–76, 76
micro-switches for, 113, 114 sending, 98 ROI specification for, 418
packets for, 424 specification for, 420 in schematic diagrams, 406–407, 407
buttons cleaning motors, 30 serial interface tether, 54–56, 57
commands for, 36–37, 36–37 clearing bits, 31 connectors, ROI, 21–24, 21–24
MyGUI for, 142–144, 144 cliff front left sensor packets, 423 constants in RoombaComm, 98
in schematic diagrams, 411, 411 cliff front right sensor packets, 423 control, ROI for, 20
on WRTSL54GS, 363 cliff left sensor packets, 423 CONTROL command
bytes cliff right sensor packets, 423 modes for, 25–26
bits in, 31 cliff sensors opcodes and data bytes for, 27
for ROI commands, 27–28 for line-following Roombas, 375 overview, 29
for sensor data, 121 optical object detectors, 113, 113 specification for, 419
for pitch control, 198–199 control method, 62, 84, 87
for theremin simulation, 195, 195 conventions for schematic diagrams, 406
wheel-drop, 16 converting
C cliffFrontLeft method, 120 note names to MIDI note numbers,
C language and libraries clock, alarm, 200–202 154, 155
for Linux, 303 Cobox Micro, 222, 236 radius/velocity to left/right speeds, 94–96,
for vision systems, 346–351 cockroach, robot, 273–275, 273–274 94–95
cables, 21–23, 21, 23 code stick programmers, 366, 366–367 core MIDI, 164–166
Bluetooth interface, 72, 74–75, 75 code structure, 84 cost of Processing, 134–135
drive motor unit, 89, 90 coding mode in Arduino, 286–288, 287 costumes
serial interface tether, 42–43, 49–50, 51, Cohen, Harold, 168 building, 372
54, 55 coils in schematic diagrams, 411, 411 RoomBud, 370, 371
SitePlayer Telnet adapter, 211–213, 213 cold solder joints, 391, 391 CP2103 chip, 317
vision systems, 353–357, 354–357 collision avoidance, 232–233 cpuinfo command, 320
calculators, graphing, 182 color of Power LEDs, 32 createSong method, 156, 160
cameras in vision systems, 333, 339–340, 340 command center for vision systems, Creative Instant webcam, 340, 340
drivers for, 341 360–362, 361 cross-platform compatibility of Processing, 135
power consumption by, 359 command line crystals, 152–153
for taking pictures, 341–342 for driving actions, 97 CSMA/CA (carrier-sense multiple access
for viewing pictures, 342–343, 343 for OpenWrt, 324–325 with collision avoidance)
canvases, laying out, 174–175, 175–176 commands technique, 233
capacitive touch sensors, 16 in ROI specification, 419–422, 425 CSMA/CD (carrier-sense multiple access
capacitors structure of, 27–28 with collision detection)
for MAX232 transceivers, 48 CommAPI, 85 technique, 232
in schematic diagrams, 410, 410 Common Gateway Interface (CGI), 351, 352 Cuartielles, David, 279
voltage ratings for, 46 Compact Flash (CF) board, 298 current
in voltage regulators, 45 compatibility of Processing, 135 through LEDs, 46–47
capacity sensor packets, 424 compilers vs. interpreters, 276–277, 277 monitoring, 38
Capizzi, Craig, 376 compiling in Ohm’s Law, 47
carpets, current variations from, 14 Java programs, 96 variations in, 14
carrier-sense multiple access with collision roombacmd program, 349–350 in vision systems, 358–360, 359–360
avoidance (CSMA/CA) components current sensor packets, 424
technique, 233 motors, 15 currentTimeMillis method, 127
carrier-sense multiple access with collision power, 14 curves
detection (CSMA/CD) sensors, 15–16 moving in, 102–104, 103
technique, 232 soldering, 391, 392 parametric, 178–181, 179–180
cell phone sync cable hack, 42–43 underside, 13, 13 cutters, 388, 388