Page 54 - Hacking Roomba

Chapter 2 — Interfacing Basics 35

byte 0 7 6 5 4 3 2 1 0
bump wheel wheel wheel bump bump
and n/a n/a n/a drop drop drop left right
wheeldrop caster left right
byte 1 7 6 5 4 3 2 1 0

wall n/a n/a n/a n/a n/a n/a n/a wall

byte 2 7 6 5 4 3 2 1 0
cliff
cliff left n/a n/a n/a n/a n/a n/a n/a
left
byte 3 7 6 5 4 3 2 1 0
cliff
cliff front
left n/a n/a n/a n/a n/a n/a n/a front
left
byte 4 7 6 5 4 3 2 1 0
cliff
cliff front n/a n/a n/a n/a n/a n/a n/a front
right right

byte 5 7 6 5 4 3 2 1 0
cliff
cliff right n/a n/a n/a n/a n/a n/a n/a
right
byte 6 7 6 5 4 3 2 1 0
virtual virtual
wall n/a n/a n/a n/a n/a n/a n/a wall

byte 7 7 6 5 4 3 2 1 0
motor main side
over- n/a n/a n/a drive left drive right brush vacuum brush
currents
byte 8 7 6 5 4 3 2 1 0
dirt
detector range 0–255
left
byte 9 7 6 5 4 3 2 1 0
dirt
detector range 0–255
right
FIGURE 2-5: ROI sensor packet group 1, physical sensors