PyRoombaAdapter
A Python library for Roomba Open Interface
What is this?
This is a python library for Roomba Open Interface(ROI)
This module is based on the document:
It aims to control a Roomba easily.
This module is only tested on Roomba 690 model.
Install
You can use pip to install it.
$ pip install pyroombaadapterRequirements
-
Python 3.6.x or higher (2.7 is not supported)
Documentation
Please check the document for all API and usages.
Usage examples
All examples are in examples directory.
Click each image to see each example movie.
Go and back example
This example uses "move" API.
"""
Go and back example with roomba
"""
from time import sleep
import math
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.move(0.2, math.radians(0.0)) # go straight
sleep(1.0)
adapter.move(0, math.radians(-20)) # turn right
sleep(6.0)
adapter.move(0.2, math.radians(0.0)) # go straight
sleep(1.0)
adapter.move(0, math.radians(20)) # turn left
sleep(6.0)
#Print the total distance traveled
print(f"distance: {adapter.request_distance()} mm, angle: {adapter.request_angle()} rad")Play song1
This example uses "send_song_cmd" and "send_play_cmd" API.
"""
Play Darth Vader song
"""
from time import sleep
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.send_song_cmd(0, 9,
[69, 69, 69, 65, 72, 69, 65, 72, 69],
[40, 40, 40, 30, 10, 40, 30, 10, 80])
adapter.send_play_cmd(0)
sleep(10.0)Play song2
This example uses "send_song_cmd" and "send_play_cmd" API.
"""
Play namidaga kirari by spitz
"""
from time import sleep
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.send_song_cmd(0, 10,
[66, 67, 69, 67, 66, 62, 64, 66, 67, 66],
[16, 16, 16, 32, 32, 16, 16, 16, 16, 64])
sleep(1.0)
adapter.send_song_cmd(1, 9,
[66, 67, 69, 67, 66, 71, 59, 62, 61],
[16, 16, 16, 32, 32, 32, 16, 16, 64])
sleep(1.0)
adapter.send_song_cmd(2, 13,
[62, 64, 61, 62, 64, 66, 62, 64, 66, 67, 64, 66, 71],
[16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16])
sleep(1.0)
adapter.send_song_cmd(3, 7,
[71, 67, 64, 62, 61, 62, 62],
[16, 16, 16, 16, 48, 16, 64])
sleep(3.0)
adapter.send_play_cmd(0)
sleep(4.0)
adapter.send_play_cmd(1)
sleep(4.0)
adapter.send_play_cmd(0)
sleep(4.0)
adapter.send_play_cmd(1)
sleep(4.0)
adapter.send_play_cmd(2)
sleep(4.0)
adapter.send_play_cmd(3)
sleep(4.0)Read sensors
There are two ways how to read sensor values. Request manually on demand:
"""
Read Roomba sensors
"""
from time import sleep
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.change_mode_to_passive()
# Request sensor value manually
print(adapter.request_charging_state())
print(adapter.request_voltage())
print(adapter.request_current())
print(adapter.request_temperature())
print(adapter.request_charge())
print(adapter.request_capacity())
print(adapter.request_oi_mode())
print(adapter.request_distance())
print(adapter.request_angle())Start a data stream:
"""
Read Roomba sensors
"""
from time import sleep
from pyroombaadapter import PyRoombaAdapter
PORT = "/dev/ttyUSB0"
adapter = PyRoombaAdapter(PORT)
adapter.change_mode_to_passive()
# Read sensor value from data stream
adapter.data_stream_start(
["Charging State", "Voltage", "Current", "Temperature", "Battery Charge", "Battery Capacity", "OI Mode"])
sleep(1)
print(adapter.data_stream_read())
sleep(1)
print(adapter.data_stream_read())
sleep(1)
print(adapter.data_stream_read())
sleep(1)
adapter.data_stream_stop()Contribution
Any contributions to this project are welcome!
Feel free to make an issue and a PR to improve this OSS.
License
MIT