iRobot::Create Class Reference

Robot communication class, wraps Open Interface version 2. More...

#include <irobot-create.hh>

Collaboration diagram for iRobot::Create:

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List of all members.

Public Types
enum	Mode {   IROBOT_CREATE_OFF, IROBOT_CREATE_PASSIVE, IROBOT_CREATE_SAFE, IROBOT_CREATE_FULL,   IROBOT_CREATE_OFF, IROBOT_CREATE_PASSIVE, IROBOT_CREATE_SAFE, IROBOT_CREATE_FULL }
	iRobot Create modes The mode defines which commands are available and how the robot behaves when some events happens like wheel drop or if a cliff is detected. More...
enum	Baud {   BAUD_300 = 0, BAUD_600 = 1, BAUD_1200 = 2, BAUD_2400 = 3,   BAUD_4800 = 4, BAUD_9600 = 5, BAUD_14400 = 6, BAUD_19200 = 7,   BAUD_28800 = 8, BAUD_38400 = 9, BAUD_57600 = 10, BAUD_115200 = 11,   BAUD_300 = 0, BAUD_600 = 1, BAUD_1200 = 2, BAUD_2400 = 3,   BAUD_4800 = 4, BAUD_9600 = 5, BAUD_14400 = 6, BAUD_19200 = 7,   BAUD_28800 = 8, BAUD_38400 = 9, BAUD_57600 = 10, BAUD_115200 = 11 }
	Enumerate all possible communication speeds. More...
enum	Demo {   DEMO_COVER = 0, DEMO_COVER_AND_DOCK = 1, DEMO_SPOT_COVER = 2, DEMO_MOUSE = 3,   DEMO_DRIVE_FIGURE_EIGHT = 4, DEMO_WIMP = 5, DEMO_HOME = 6, DEMO_TAG = 7,   DEMO_PACHELBEL = 8, DEMO_BANJO = 9, DEMO_ABORT = 255, DEMO_COVER = 0,   DEMO_COVER_AND_DOCK = 1, DEMO_SPOT_COVER = 2, DEMO_MOUSE = 3, DEMO_DRIVE_FIGURE_EIGHT = 4,   DEMO_WIMP = 5, DEMO_HOME = 6, DEMO_TAG = 7, DEMO_PACHELBEL = 8,   DEMO_BANJO = 9, DEMO_ABORT = 255 }
	Enumerate built-in demos. More...
enum	DriveCommand {   DRIVE_STRAIGHT, DRIVE_INPLACE_CLOCKWISE, DRIVE_INPLACE_COUNTERCLOCKWISE, DRIVE_STRAIGHT,   DRIVE_INPLACE_CLOCKWISE, DRIVE_INPLACE_COUNTERCLOCKWISE }
	Enumerates special driving commands. More...
enum	Led {   LED_NONE = 0, LED_PLAY = 2, LED_ADVANCE = 8, LED_ALL = LED_PLAY | LED_ADVANCE,   LED_NONE = 0, LED_PLAY = 2, LED_ADVANCE = 8, LED_ALL = LED_PLAY | LED_ADVANCE }
	Enumerate available leds (and combinations). The power led is not in this list because it is handled differently (as its color is not fixed). More...
enum	StreamState { STREAM_STATE_OFF = 0, STREAM_STATE_ON = 1, STREAM_STATE_OFF = 0, STREAM_STATE_ON = 1 }
	Activate or disable sensor streaming. More...
enum	ChargingState {   CHARGING_STATE_NOT_CHARGING = 0, CHARGING_STATE_RECONDITIONING_CHARGING = 1, CHARGING_STATE_FULL_CHARGING = 2, CHARGING_STATE_TRICKLE_CHARGING = 3,   CHARGING_STATE_WAITING = 4, CHARGING_STATE_CHARGING_FAULT_CONDITION = 5, CHARGING_STATE_NOT_CHARGING = 0, CHARGING_STATE_RECONDITIONING_CHARGING = 1,   CHARGING_STATE_FULL_CHARGING = 2, CHARGING_STATE_TRICKLE_CHARGING = 3, CHARGING_STATE_WAITING = 4, CHARGING_STATE_CHARGING_FAULT_CONDITION = 5 }
	Enumerate possible charging states. More...
enum	Event {   EVENT_WHEEL_DROP = 1, EVENT_FRONT_WHEEL_DROP = 2, EVENT_LEFT_WHEEL_DROP = 3, EVENT_RIGHT_WHEEL_DROP = 4,   EVENT_BUMP = 5, EVENT_LEFT_BUMP = 6, EVENT_RIGHT_BUMP = 7, EVENT_VIRTUAL_WALL = 8,   EVENT_WALL = 9, EVENT_CLIFF = 10, EVENT_LEFT_CLIFF = 11, EVENT_FRONT_LEFT_CLIFF = 12,   EVENT_FRONT_RIGHT_CLIFF = 13, EVENT_RIGHT_CLIFF = 14, EVENT_HOME_BASE = 15, EVENT_ADVANCE_BUTTON = 16,   EVENT_PLAY_BUTTON = 17, EVENT_DIGITAL_INPUT_0 = 18, EVENT_DIGITAL_INPUT_1 = 19, EVENT_DIGITAL_INPUT_2 = 20,   EVENT_DIGITAL_INPUT_3 = 21, EVENT_OI_MODE_PASSIVE = 22, EVENT_WHEEL_DROP = 1, EVENT_FRONT_WHEEL_DROP = 2,   EVENT_LEFT_WHEEL_DROP = 3, EVENT_RIGHT_WHEEL_DROP = 4, EVENT_BUMP = 5, EVENT_LEFT_BUMP = 6,   EVENT_RIGHT_BUMP = 7, EVENT_VIRTUAL_WALL = 8, EVENT_WALL = 9, EVENT_CLIFF = 10,   EVENT_LEFT_CLIFF = 11, EVENT_FRONT_LEFT_CLIFF = 12, EVENT_FRONT_RIGHT_CLIFF = 13, EVENT_RIGHT_CLIFF = 14,   EVENT_HOME_BASE = 15, EVENT_ADVANCE_BUTTON = 16, EVENT_PLAY_BUTTON = 17, EVENT_DIGITAL_INPUT_0 = 18,   EVENT_DIGITAL_INPUT_1 = 19, EVENT_DIGITAL_INPUT_2 = 20, EVENT_DIGITAL_INPUT_3 = 21, EVENT_OI_MODE_PASSIVE = 22 }
	Enumerate available events. More...
enum	EventState { EVENT_OCCURRING, EVENT_NOT_OCCURRING, EVENT_OCCURRING, EVENT_NOT_OCCURRING }
	Indicate an event state. More...
enum	Opcode {   OPCODE_START = 128, OPCODE_BAUD = 129, OPCODE_CONTROL = 130, OPCODE_SAFE = 131,   OPCODE_FULL = 132, OPCODE_SPOT = 134, OPCODE_COVER = 135, OPCODE_DEMO = 136,   OPCODE_DRIVE = 137, OPCODE_LOW_SIDE_DRIVERS = 138, OPCODE_LEDS = 139, OPCODE_SONG = 140,   OPCODE_PLAY = 141, OPCODE_SENSORS = 142, OPCODE_COVER_AND_DOCK = 143, OPCODE_PWM_LOW_SIDE_DRIVERS = 144,   OPCODE_DRIVE_DIRECT = 145, OPCODE_DIGITAL_OUTPUTS = 147, OPCODE_STREAM = 148, OPCODE_QUERY_LIST = 149,   OPCODE_PAUSE_RESUME_STREAM = 150, OPCODE_SEND_IR = 151, OPCODE_SCRIPT = 152, OPCODE_PLAY_SCRIPT = 153,   OPCODE_SHOW_SCRIPT = 154, OPCODE_WAIT_TIME = 155, OPCODE_WAIT_DISTANCE = 156, OPCODE_WAIT_ANGLE = 157,   OPCODE_WAIT_EVENT = 158, OPCODE_START = 128, OPCODE_BAUD = 129, OPCODE_CONTROL = 130,   OPCODE_SAFE = 131, OPCODE_FULL = 132, OPCODE_SPOT = 134, OPCODE_COVER = 135,   OPCODE_DEMO = 136, OPCODE_DRIVE = 137, OPCODE_LOW_SIDE_DRIVERS = 138, OPCODE_LEDS = 139,   OPCODE_SONG = 140, OPCODE_PLAY = 141, OPCODE_SENSORS = 142, OPCODE_COVER_AND_DOCK = 143,   OPCODE_PWM_LOW_SIDE_DRIVERS = 144, OPCODE_DRIVE_DIRECT = 145, OPCODE_DIGITAL_OUTPUTS = 147, OPCODE_STREAM = 148,   OPCODE_QUERY_LIST = 149, OPCODE_PAUSE_RESUME_STREAM = 150, OPCODE_SEND_IR = 151, OPCODE_SCRIPT = 152,   OPCODE_PLAY_SCRIPT = 153, OPCODE_SHOW_SCRIPT = 154, OPCODE_WAIT_TIME = 155, OPCODE_WAIT_DISTANCE = 156,   OPCODE_WAIT_ANGLE = 157, OPCODE_WAIT_EVENT = 158 }
	Enumerate available opcodes. Opcode are the basics instructions that the protocol support. This class wraps them to avoid using them directly. The only case where you have to use them is when you want to send an Open Interface script. More...
enum	SensorPacket {   SENSOR_GROUP_0 = 0, SENSOR_GROUP_1 = 1, SENSOR_GROUP_2 = 2, SENSOR_GROUP_3 = 3,   SENSOR_GROUP_4 = 4, SENSOR_GROUP_5 = 5, SENSOR_GROUP_6 = 6, SENSOR_BUMPS_WHEELS_DROPS = 7,   SENSOR_WALL = 8, SENSOR_CLIFF_LEFT = 9, SENSOR_CLIFF_FRONT_LEFT = 10, SENSOR_CLIFF_FRONT_RIGHT = 11,   SENSOR_CLIFF_RIGHT = 12, SENSOR_VIRTUAL_WALL = 13, SENSOR_OVERCURRENTS = 14, SENSOR_IR = 17,   SENSOR_BUTTONS = 18, SENSOR_DISTANCE = 19, SENSOR_ANGLE = 20, SENSOR_CHARGING_STATE = 21,   SENSOR_VOLTAGE = 22, SENSOR_CURRENT = 23, SENSOR_BATTERY_TEMPERATURE = 24, SENSOR_BATTERY_CHARGE = 25,   SENSOR_BATTERY_CAPACITY = 26, SENSOR_WALL_SIGNAL = 27, SENSOR_CLIFF_LEFT_SIGNAL = 28, SENSOR_CLIFF_FRONT_LEFT_SIGNAL = 29,   SENSOR_CLIFF_FRONT_RIGHT_SIGNAL = 30, SENSOR_CLIFF_RIGHT_SIGNAL = 31, SENSOR_CARGO_BAY_DIGITAL_INPUT = 32, SENSOR_CARGO_BAY_ANALOG_SIGNAL = 33,   SENSOR_CHARGING_SOURCES_AVAILABLE = 34, SENSOR_OI_MODE = 35, SENSOR_SONG_NUMBER = 36, SENSOR_SONG_PLAYING = 37,   SENSOR_NUMBER_STREAM_PACKETS = 38, SENSOR_REQUESTED_VELOCITY = 39, SENSOR_REQUESTED_RADIUS = 40, SENSOR_REQUESTED_RIGHT_VELOCITY = 41,   SENSOR_REQUESTED_LEFT_VELOCITY = 42, SENSOR_GROUP_0 = 0, SENSOR_GROUP_1 = 1, SENSOR_GROUP_2 = 2,   SENSOR_GROUP_3 = 3, SENSOR_GROUP_4 = 4, SENSOR_GROUP_5 = 5, SENSOR_GROUP_6 = 6,   SENSOR_BUMPS_WHEELS_DROPS = 7, SENSOR_WALL = 8, SENSOR_CLIFF_LEFT = 9, SENSOR_CLIFF_FRONT_LEFT = 10,   SENSOR_CLIFF_FRONT_RIGHT = 11, SENSOR_CLIFF_RIGHT = 12, SENSOR_VIRTUAL_WALL = 13, SENSOR_OVERCURRENTS = 14,   SENSOR_IR = 17, SENSOR_BUTTONS = 18, SENSOR_DISTANCE = 19, SENSOR_ANGLE = 20,   SENSOR_CHARGING_STATE = 21, SENSOR_VOLTAGE = 22, SENSOR_CURRENT = 23, SENSOR_BATTERY_TEMPERATURE = 24,   SENSOR_BATTERY_CHARGE = 25, SENSOR_BATTERY_CAPACITY = 26, SENSOR_WALL_SIGNAL = 27, SENSOR_CLIFF_LEFT_SIGNAL = 28,   SENSOR_CLIFF_FRONT_LEFT_SIGNAL = 29, SENSOR_CLIFF_FRONT_RIGHT_SIGNAL = 30, SENSOR_CLIFF_RIGHT_SIGNAL = 31, SENSOR_CARGO_BAY_DIGITAL_INPUT = 32,   SENSOR_CARGO_BAY_ANALOG_SIGNAL = 33, SENSOR_CHARGING_SOURCES_AVAILABLE = 34, SENSOR_OI_MODE = 35, SENSOR_SONG_NUMBER = 36,   SENSOR_SONG_PLAYING = 37, SENSOR_NUMBER_STREAM_PACKETS = 38, SENSOR_REQUESTED_VELOCITY = 39, SENSOR_REQUESTED_RADIUS = 40,   SENSOR_REQUESTED_RIGHT_VELOCITY = 41, SENSOR_REQUESTED_LEFT_VELOCITY = 42 }
	Enumerate available sensor packets. More...
enum	Mode {   IROBOT_CREATE_OFF, IROBOT_CREATE_PASSIVE, IROBOT_CREATE_SAFE, IROBOT_CREATE_FULL,   IROBOT_CREATE_OFF, IROBOT_CREATE_PASSIVE, IROBOT_CREATE_SAFE, IROBOT_CREATE_FULL }
	iRobot Create modes The mode defines which commands are available and how the robot behaves when some events happens like wheel drop or if a cliff is detected. More...
enum	Baud {   BAUD_300 = 0, BAUD_600 = 1, BAUD_1200 = 2, BAUD_2400 = 3,   BAUD_4800 = 4, BAUD_9600 = 5, BAUD_14400 = 6, BAUD_19200 = 7,   BAUD_28800 = 8, BAUD_38400 = 9, BAUD_57600 = 10, BAUD_115200 = 11,   BAUD_300 = 0, BAUD_600 = 1, BAUD_1200 = 2, BAUD_2400 = 3,   BAUD_4800 = 4, BAUD_9600 = 5, BAUD_14400 = 6, BAUD_19200 = 7,   BAUD_28800 = 8, BAUD_38400 = 9, BAUD_57600 = 10, BAUD_115200 = 11 }
	Enumerate all possible communication speeds. More...
enum	Demo {   DEMO_COVER = 0, DEMO_COVER_AND_DOCK = 1, DEMO_SPOT_COVER = 2, DEMO_MOUSE = 3,   DEMO_DRIVE_FIGURE_EIGHT = 4, DEMO_WIMP = 5, DEMO_HOME = 6, DEMO_TAG = 7,   DEMO_PACHELBEL = 8, DEMO_BANJO = 9, DEMO_ABORT = 255, DEMO_COVER = 0,   DEMO_COVER_AND_DOCK = 1, DEMO_SPOT_COVER = 2, DEMO_MOUSE = 3, DEMO_DRIVE_FIGURE_EIGHT = 4,   DEMO_WIMP = 5, DEMO_HOME = 6, DEMO_TAG = 7, DEMO_PACHELBEL = 8,   DEMO_BANJO = 9, DEMO_ABORT = 255 }
	Enumerate built-in demos. More...
enum	DriveCommand {   DRIVE_STRAIGHT, DRIVE_INPLACE_CLOCKWISE, DRIVE_INPLACE_COUNTERCLOCKWISE, DRIVE_STRAIGHT,   DRIVE_INPLACE_CLOCKWISE, DRIVE_INPLACE_COUNTERCLOCKWISE }
	Enumerates special driving commands. More...
enum	Led {   LED_NONE = 0, LED_PLAY = 2, LED_ADVANCE = 8, LED_ALL = LED_PLAY | LED_ADVANCE,   LED_NONE = 0, LED_PLAY = 2, LED_ADVANCE = 8, LED_ALL = LED_PLAY | LED_ADVANCE }
	Enumerate available leds (and combinations). The power led is not in this list because it is handled differently (as its color is not fixed). More...
enum	StreamState { STREAM_STATE_OFF = 0, STREAM_STATE_ON = 1, STREAM_STATE_OFF = 0, STREAM_STATE_ON = 1 }
	Activate or disable sensor streaming. More...
enum	ChargingState {   CHARGING_STATE_NOT_CHARGING = 0, CHARGING_STATE_RECONDITIONING_CHARGING = 1, CHARGING_STATE_FULL_CHARGING = 2, CHARGING_STATE_TRICKLE_CHARGING = 3,   CHARGING_STATE_WAITING = 4, CHARGING_STATE_CHARGING_FAULT_CONDITION = 5, CHARGING_STATE_NOT_CHARGING = 0, CHARGING_STATE_RECONDITIONING_CHARGING = 1,   CHARGING_STATE_FULL_CHARGING = 2, CHARGING_STATE_TRICKLE_CHARGING = 3, CHARGING_STATE_WAITING = 4, CHARGING_STATE_CHARGING_FAULT_CONDITION = 5 }
	Enumerate possible charging states. More...
enum	Event {   EVENT_WHEEL_DROP = 1, EVENT_FRONT_WHEEL_DROP = 2, EVENT_LEFT_WHEEL_DROP = 3, EVENT_RIGHT_WHEEL_DROP = 4,   EVENT_BUMP = 5, EVENT_LEFT_BUMP = 6, EVENT_RIGHT_BUMP = 7, EVENT_VIRTUAL_WALL = 8,   EVENT_WALL = 9, EVENT_CLIFF = 10, EVENT_LEFT_CLIFF = 11, EVENT_FRONT_LEFT_CLIFF = 12,   EVENT_FRONT_RIGHT_CLIFF = 13, EVENT_RIGHT_CLIFF = 14, EVENT_HOME_BASE = 15, EVENT_ADVANCE_BUTTON = 16,   EVENT_PLAY_BUTTON = 17, EVENT_DIGITAL_INPUT_0 = 18, EVENT_DIGITAL_INPUT_1 = 19, EVENT_DIGITAL_INPUT_2 = 20,   EVENT_DIGITAL_INPUT_3 = 21, EVENT_OI_MODE_PASSIVE = 22, EVENT_WHEEL_DROP = 1, EVENT_FRONT_WHEEL_DROP = 2,   EVENT_LEFT_WHEEL_DROP = 3, EVENT_RIGHT_WHEEL_DROP = 4, EVENT_BUMP = 5, EVENT_LEFT_BUMP = 6,   EVENT_RIGHT_BUMP = 7, EVENT_VIRTUAL_WALL = 8, EVENT_WALL = 9, EVENT_CLIFF = 10,   EVENT_LEFT_CLIFF = 11, EVENT_FRONT_LEFT_CLIFF = 12, EVENT_FRONT_RIGHT_CLIFF = 13, EVENT_RIGHT_CLIFF = 14,   EVENT_HOME_BASE = 15, EVENT_ADVANCE_BUTTON = 16, EVENT_PLAY_BUTTON = 17, EVENT_DIGITAL_INPUT_0 = 18,   EVENT_DIGITAL_INPUT_1 = 19, EVENT_DIGITAL_INPUT_2 = 20, EVENT_DIGITAL_INPUT_3 = 21, EVENT_OI_MODE_PASSIVE = 22 }
	Enumerate available events. More...
enum	EventState { EVENT_OCCURRING, EVENT_NOT_OCCURRING, EVENT_OCCURRING, EVENT_NOT_OCCURRING }
	Indicate an event state. More...
enum	Opcode {   OPCODE_START = 128, OPCODE_BAUD = 129, OPCODE_CONTROL = 130, OPCODE_SAFE = 131,   OPCODE_FULL = 132, OPCODE_SPOT = 134, OPCODE_COVER = 135, OPCODE_DEMO = 136,   OPCODE_DRIVE = 137, OPCODE_LOW_SIDE_DRIVERS = 138, OPCODE_LEDS = 139, OPCODE_SONG = 140,   OPCODE_PLAY = 141, OPCODE_SENSORS = 142, OPCODE_COVER_AND_DOCK = 143, OPCODE_PWM_LOW_SIDE_DRIVERS = 144,   OPCODE_DRIVE_DIRECT = 145, OPCODE_DIGITAL_OUTPUTS = 147, OPCODE_STREAM = 148, OPCODE_QUERY_LIST = 149,   OPCODE_PAUSE_RESUME_STREAM = 150, OPCODE_SEND_IR = 151, OPCODE_SCRIPT = 152, OPCODE_PLAY_SCRIPT = 153,   OPCODE_SHOW_SCRIPT = 154, OPCODE_WAIT_TIME = 155, OPCODE_WAIT_DISTANCE = 156, OPCODE_WAIT_ANGLE = 157,   OPCODE_WAIT_EVENT = 158, OPCODE_START = 128, OPCODE_BAUD = 129, OPCODE_CONTROL = 130,   OPCODE_SAFE = 131, OPCODE_FULL = 132, OPCODE_SPOT = 134, OPCODE_COVER = 135,   OPCODE_DEMO = 136, OPCODE_DRIVE = 137, OPCODE_LOW_SIDE_DRIVERS = 138, OPCODE_LEDS = 139,   OPCODE_SONG = 140, OPCODE_PLAY = 141, OPCODE_SENSORS = 142, OPCODE_COVER_AND_DOCK = 143,   OPCODE_PWM_LOW_SIDE_DRIVERS = 144, OPCODE_DRIVE_DIRECT = 145, OPCODE_DIGITAL_OUTPUTS = 147, OPCODE_STREAM = 148,   OPCODE_QUERY_LIST = 149, OPCODE_PAUSE_RESUME_STREAM = 150, OPCODE_SEND_IR = 151, OPCODE_SCRIPT = 152,   OPCODE_PLAY_SCRIPT = 153, OPCODE_SHOW_SCRIPT = 154, OPCODE_WAIT_TIME = 155, OPCODE_WAIT_DISTANCE = 156,   OPCODE_WAIT_ANGLE = 157, OPCODE_WAIT_EVENT = 158 }
	Enumerate available opcodes. Opcode are the basics instructions that the protocol support. This class wraps them to avoid using them directly. The only case where you have to use them is when you want to send an Open Interface script. More...
enum	SensorPacket {   SENSOR_GROUP_0 = 0, SENSOR_GROUP_1 = 1, SENSOR_GROUP_2 = 2, SENSOR_GROUP_3 = 3,   SENSOR_GROUP_4 = 4, SENSOR_GROUP_5 = 5, SENSOR_GROUP_6 = 6, SENSOR_BUMPS_WHEELS_DROPS = 7,   SENSOR_WALL = 8, SENSOR_CLIFF_LEFT = 9, SENSOR_CLIFF_FRONT_LEFT = 10, SENSOR_CLIFF_FRONT_RIGHT = 11,   SENSOR_CLIFF_RIGHT = 12, SENSOR_VIRTUAL_WALL = 13, SENSOR_OVERCURRENTS = 14, SENSOR_IR = 17,   SENSOR_BUTTONS = 18, SENSOR_DISTANCE = 19, SENSOR_ANGLE = 20, SENSOR_CHARGING_STATE = 21,   SENSOR_VOLTAGE = 22, SENSOR_CURRENT = 23, SENSOR_BATTERY_TEMPERATURE = 24, SENSOR_BATTERY_CHARGE = 25,   SENSOR_BATTERY_CAPACITY = 26, SENSOR_WALL_SIGNAL = 27, SENSOR_CLIFF_LEFT_SIGNAL = 28, SENSOR_CLIFF_FRONT_LEFT_SIGNAL = 29,   SENSOR_CLIFF_FRONT_RIGHT_SIGNAL = 30, SENSOR_CLIFF_RIGHT_SIGNAL = 31, SENSOR_CARGO_BAY_DIGITAL_INPUT = 32, SENSOR_CARGO_BAY_ANALOG_SIGNAL = 33,   SENSOR_CHARGING_SOURCES_AVAILABLE = 34, SENSOR_OI_MODE = 35, SENSOR_SONG_NUMBER = 36, SENSOR_SONG_PLAYING = 37,   SENSOR_NUMBER_STREAM_PACKETS = 38, SENSOR_REQUESTED_VELOCITY = 39, SENSOR_REQUESTED_RADIUS = 40, SENSOR_REQUESTED_RIGHT_VELOCITY = 41,   SENSOR_REQUESTED_LEFT_VELOCITY = 42, SENSOR_GROUP_0 = 0, SENSOR_GROUP_1 = 1, SENSOR_GROUP_2 = 2,   SENSOR_GROUP_3 = 3, SENSOR_GROUP_4 = 4, SENSOR_GROUP_5 = 5, SENSOR_GROUP_6 = 6,   SENSOR_BUMPS_WHEELS_DROPS = 7, SENSOR_WALL = 8, SENSOR_CLIFF_LEFT = 9, SENSOR_CLIFF_FRONT_LEFT = 10,   SENSOR_CLIFF_FRONT_RIGHT = 11, SENSOR_CLIFF_RIGHT = 12, SENSOR_VIRTUAL_WALL = 13, SENSOR_OVERCURRENTS = 14,   SENSOR_IR = 17, SENSOR_BUTTONS = 18, SENSOR_DISTANCE = 19, SENSOR_ANGLE = 20,   SENSOR_CHARGING_STATE = 21, SENSOR_VOLTAGE = 22, SENSOR_CURRENT = 23, SENSOR_BATTERY_TEMPERATURE = 24,   SENSOR_BATTERY_CHARGE = 25, SENSOR_BATTERY_CAPACITY = 26, SENSOR_WALL_SIGNAL = 27, SENSOR_CLIFF_LEFT_SIGNAL = 28,   SENSOR_CLIFF_FRONT_LEFT_SIGNAL = 29, SENSOR_CLIFF_FRONT_RIGHT_SIGNAL = 30, SENSOR_CLIFF_RIGHT_SIGNAL = 31, SENSOR_CARGO_BAY_DIGITAL_INPUT = 32,   SENSOR_CARGO_BAY_ANALOG_SIGNAL = 33, SENSOR_CHARGING_SOURCES_AVAILABLE = 34, SENSOR_OI_MODE = 35, SENSOR_SONG_NUMBER = 36,   SENSOR_SONG_PLAYING = 37, SENSOR_NUMBER_STREAM_PACKETS = 38, SENSOR_REQUESTED_VELOCITY = 39, SENSOR_REQUESTED_RADIUS = 40,   SENSOR_REQUESTED_RIGHT_VELOCITY = 41, SENSOR_REQUESTED_LEFT_VELOCITY = 42 }
	Enumerate available sensor packets. More...
typedef std::pair< unsigned char, unsigned char >	note_t
	Define a song note (frequency, duration).
typedef std::vector< note_t >	song_t
	Define a song (a list of notes).
typedef std::vector< unsigned char >	opcodes_t
	Define a vector of opcodes and arguments (a script).
typedef std::vector< SensorPacket >	sensorPackets_t
	Define a vector of sensor packets.
typedef std::queue< SensorPacket >	queriedPackets_t
typedef std::pair< unsigned char, unsigned char >	note_t
	Define a song note (frequency, duration).
typedef std::vector< note_t >	song_t
	Define a song (a list of notes).
typedef std::vector< unsigned char >	opcodes_t
	Define a vector of opcodes and arguments (a script).
typedef std::vector< SensorPacket >	sensorPackets_t
	Define a vector of sensor packets.
typedef std::queue< SensorPacket >	queriedPackets_t
Public Member Functions
	Create (std::iostream &stream) throw (InvalidArgument)
	Construct an instance of Create.
	Create (LibSerial::SerialStream &stream) throw (InvalidArgument, LibSerialNotAvailable)
	Construct an instance of Create using serial port communication.
	~Create () throw ()
	Destroy an instance of Create.
void	sendBaudCommand (Baud speed) throw (CommandNotAvailable, InvalidArgument)
	Change the communication speed. After changing the communication speed, it is required to wait at least 100ms.
void	sendStartCommand ()
	Switch to passive mode. Automatically done when the class is instanciated.
void	sendSafeCommand () throw (CommandNotAvailable)
	Switch to safe mode.
void	sendFullCommand () throw (CommandNotAvailable)
	Switch to full mode.
void	sendDemoCommand (Demo demo) throw (CommandNotAvailable, InvalidArgument)
	Run a built-in demo.
void	sendDriveCommand (short v, short r) throw (CommandNotAvailable, InvalidArgument)
	Drive the robot.
void	sendDriveCommand (short v, DriveCommand dc) throw (CommandNotAvailable, InvalidArgument)
	Drive the robot using a special drigin mode.
void	sendDriveDirectCommand (short vr, short vl) throw (CommandNotAvailable, InvalidArgument)
	Drive the two wheels separately.
void	sendLedCommand (Led l, unsigned char c, unsigned char i) throw (CommandNotAvailable, InvalidArgument)
	Change led status.
void	sendDigitalOutputsCommand (bool d1, bool d2, bool d3) throw (CommandNotAvailable)
	Change the digital output values.
void	sendPwmLowSideDriversCommand (unsigned char lsd1, unsigned char lsd2, unsigned char lsd3) throw (CommandNotAvailable, InvalidArgument)
	Drive low side drivers with variable power.
void	sendLowSideDriversCommand (bool lsd1, bool lsd2, bool lsd3) throw (CommandNotAvailable)
	Switch on/off low side drivers.
void	sendIrCommand (unsigned char v) throw (CommandNotAvailable)
	Send an IR command on low side driver 1. The data will be encoded using the iRobot's Create receiver format.
void	sendSongCommand (unsigned char sid, const song_t &song) throw (CommandNotAvailable, InvalidArgument)
	Define a song.
void	sendPlaySongCommand (unsigned char sid) throw (CommandNotAvailable, InvalidArgument)
	Play a song.
void	sendSensorsCommand (SensorPacket sp) throw (CommandNotAvailable, InvalidArgument)
	Request the robot to send a particular sensor packet.
void	sendQueryListCommand (const sensorPackets_t &lsp) throw (CommandNotAvailable, InvalidArgument)
	Request the robot to send a list of sensor packets.
void	sendStreamCommand (const sensorPackets_t &lsp) throw (CommandNotAvailable, InvalidArgument)
	Request the robot to start streaming some sensor packets. After the streaming is started, the requested values will be sent every 15ms.
void	sendPauseStreamCommand (StreamState st) throw (CommandNotAvailable, InvalidArgument)
	Pause or resume sensor streaming.
void	sendScriptCommand (const opcodes_t &script) throw (CommandNotAvailable, InvalidArgument)
	Send a script.
void	sendPlayScriptCommand () throw (CommandNotAvailable)
	Play the current stored script.
void	sendShowScriptCommand () throw (CommandNotAvailable)
	Show the stored script.
void	sendWaitTimeCommand (unsigned char t) throw (CommandNotAvailable)
	Make the robot wait for a specific amount of time.
void	sendWaitDistanceCommand (short d) throw (CommandNotAvailable)
	Make the robot wait until it travelled a certain distance.
void	sendWaitAngleCommand (short a) throw (CommandNotAvailable)
	Make the robot wait until it has rotated enough.
void	sendWaitEventCommand (Event e, EventState es=EVENT_OCCURRING) throw (CommandNotAvailable, InvalidArgument)
	Make the robot wait for a specific event.
void	updateSensors ()
	Read the stream to update sensors values. This handles both streamed data and specific queries through querylist or sensors commands.
void	readStream ()
	Read streamed sensors and update sensors values.
Mode	mode () throw ()
bool	wheeldropCaster ()
bool	wheeldropLeft ()
bool	wheeldropRight ()
bool	bumpLeft ()
bool	bumpRight ()
bool	wall ()
	Get wall sensor value.
bool	cliffLeft ()
bool	cliffFrontLeft ()
bool	cliffFrontRight ()
bool	cliffRight ()
bool	deviceDetect ()
bool	digitalInput3 ()
bool	digitalInput2 ()
bool	digitalInput1 ()
bool	digitalInput0 ()
short	analogSignal ()
bool	homeBaseChargerAvailable ()
bool	internalChargerAvailable ()
bool	virtualWall ()
bool	leftWheelOvercurrent ()
bool	rightWheelOvercurrent ()
bool	ld2Overcurrent ()
bool	ld1Overcurrent ()
bool	ld0Overcurrent ()
unsigned char	ir ()
bool	advanceButton ()
bool	playButton ()
short	distance ()
short	angle ()
ChargingState	chargingState ()
short	batteryVoltage ()
short	batteryCurrent ()
short	batteryTemperature ()
short	batteryCharge ()
short	batteryCapacity ()
short	wallSignal ()
short	cliffLeftSignal ()
short	cliffFrontLeftSignal ()
short	cliffFrontRightSignal ()
short	cliffRightSignal ()
unsigned char	songNumber ()
bool	songPlaying ()
unsigned char	streamPackets ()
short	requestedVelocity ()
short	requestedRadius ()
short	requestedLeftVelocity ()
short	requestedRightVelocity ()
	Create (std::iostream &stream) throw (InvalidArgument)
	Construct an instance of Create.
	Create (LibSerial::SerialStream &stream) throw (InvalidArgument, LibSerialNotAvailable)
	Construct an instance of Create using serial port communication.
	~Create () throw ()
	Destroy an instance of Create.
void	sendBaudCommand (Baud speed) throw (CommandNotAvailable, InvalidArgument)
	Change the communication speed. After changing the communication speed, it is required to wait at least 100ms.
void	sendStartCommand ()
	Switch to passive mode. Automatically done when the class is instanciated.
void	sendSafeCommand () throw (CommandNotAvailable)
	Switch to safe mode.
void	sendFullCommand () throw (CommandNotAvailable)
	Switch to full mode.
void	sendDemoCommand (Demo demo) throw (CommandNotAvailable, InvalidArgument)
	Run a built-in demo.
void	sendDriveCommand (short v, short r) throw (CommandNotAvailable, InvalidArgument)
	Drive the robot.
void	sendDriveCommand (short v, DriveCommand dc) throw (CommandNotAvailable, InvalidArgument)
	Drive the robot using a special drigin mode.
void	sendDriveDirectCommand (short vr, short vl) throw (CommandNotAvailable, InvalidArgument)
	Drive the two wheels separately.
void	sendLedCommand (Led l, unsigned char c, unsigned char i) throw (CommandNotAvailable, InvalidArgument)
	Change led status.
void	sendDigitalOutputsCommand (bool d1, bool d2, bool d3) throw (CommandNotAvailable)
	Change the digital output values.
void	sendPwmLowSideDriversCommand (unsigned char lsd1, unsigned char lsd2, unsigned char lsd3) throw (CommandNotAvailable, InvalidArgument)
	Drive low side drivers with variable power.
void	sendLowSideDriversCommand (bool lsd1, bool lsd2, bool lsd3) throw (CommandNotAvailable)
	Switch on/off low side drivers.
void	sendIrCommand (unsigned char v) throw (CommandNotAvailable)
	Send an IR command on low side driver 1. The data will be encoded using the iRobot's Create receiver format.
void	sendSongCommand (unsigned char sid, const song_t &song) throw (CommandNotAvailable, InvalidArgument)
	Define a song.
void	sendPlaySongCommand (unsigned char sid) throw (CommandNotAvailable, InvalidArgument)
	Play a song.
void	sendSensorsCommand (SensorPacket sp) throw (CommandNotAvailable, InvalidArgument)
	Request the robot to send a particular sensor packet.
void	sendQueryListCommand (const sensorPackets_t &lsp) throw (CommandNotAvailable, InvalidArgument)
	Request the robot to send a list of sensor packets.
void	sendStreamCommand (const sensorPackets_t &lsp) throw (CommandNotAvailable, InvalidArgument)
	Request the robot to start streaming some sensor packets. After the streaming is started, the requested values will be sent every 15ms.
void	sendPauseStreamCommand (StreamState st) throw (CommandNotAvailable, InvalidArgument)
	Pause or resume sensor streaming.
void	sendScriptCommand (const opcodes_t &script) throw (CommandNotAvailable, InvalidArgument)
	Send a script.
void	sendPlayScriptCommand () throw (CommandNotAvailable)
	Play the current stored script.
void	sendShowScriptCommand () throw (CommandNotAvailable)
	Show the stored script.
void	sendWaitTimeCommand (unsigned char t) throw (CommandNotAvailable)
	Make the robot wait for a specific amount of time.
void	sendWaitDistanceCommand (short d) throw (CommandNotAvailable)
	Make the robot wait until it travelled a certain distance.
void	sendWaitAngleCommand (short a) throw (CommandNotAvailable)
	Make the robot wait until it has rotated enough.
void	sendWaitEventCommand (Event e, EventState es=EVENT_OCCURRING) throw (CommandNotAvailable, InvalidArgument)
	Make the robot wait for a specific event.
void	updateSensors ()
	Read the stream to update sensors values. This handles both streamed data and specific queries through querylist or sensors commands.
void	readStream ()
	Read streamed sensors and update sensors values.
Mode	mode () throw ()
bool	wheeldropCaster ()
bool	wheeldropLeft ()
bool	wheeldropRight ()
bool	bumpLeft ()
bool	bumpRight ()
bool	wall ()
	Get wall sensor value.
bool	cliffLeft ()
bool	cliffFrontLeft ()
bool	cliffFrontRight ()
bool	cliffRight ()
bool	deviceDetect ()
bool	digitalInput3 ()
bool	digitalInput2 ()
bool	digitalInput1 ()
bool	digitalInput0 ()
short	analogSignal ()
bool	homeBaseChargerAvailable ()
bool	internalChargerAvailable ()
bool	virtualWall ()
bool	leftWheelOvercurrent ()
bool	rightWheelOvercurrent ()
bool	ld2Overcurrent ()
bool	ld1Overcurrent ()
bool	ld0Overcurrent ()
unsigned char	ir ()
bool	advanceButton ()
bool	playButton ()
short	distance ()
short	angle ()
ChargingState	chargingState ()
short	batteryVoltage ()
short	batteryCurrent ()
short	batteryTemperature ()
short	batteryCharge ()
short	batteryCapacity ()
short	wallSignal ()
short	cliffLeftSignal ()
short	cliffFrontLeftSignal ()
short	cliffFrontRightSignal ()
short	cliffRightSignal ()
unsigned char	songNumber ()
bool	songPlaying ()
unsigned char	streamPackets ()
short	requestedVelocity ()
short	requestedRadius ()
short	requestedLeftVelocity ()
short	requestedRightVelocity ()
Static Public Attributes
static const unsigned char	LED_COLOR_GREEN = 0
	Define the green color for power led.
static const unsigned char	LED_COLOR_RED = 255
	Define the red color for power led.
static const unsigned char	LED_INTENSITY_OFF = 0
	Define minimum intensity for power led (off).
static const unsigned char	LED_INTENSITY_FULL = 255
	Define full intensity for power led.
static const unsigned char	LOW_SIDE_VELOCITY_MIN = 0
	Define minimum velocity for low side drivers.
static const unsigned char	LOW_SIDE_VELOCITY_MAX = 128
	Define maximum velocity for low side drivers.
static const int	VELOCITY_MIN = -500
	Define minimum velocity for robot wheels motors.
static const int	VELOCITY_MAX = 500
	Define maximum velocity for robot wheels motors.
static const int	RADIUS_MIN = -2000
	Define minimum radius turn of the robot.
static const int	RADIUS_MAX = 2000
	Define maximum radius turn of the robot.
static const unsigned char	SONG_MIN = 0
	Define minimum song id.
static const unsigned char	SONG_MAX = 15
	Define maximum song id.
static const unsigned char	SONG_MAX_SIZE = 16
	Define song maximum size.
static const unsigned char	NO_NOTE = 30
	Define the value for a rest node (no sound).
static const unsigned char	NOTE_MIN = 31
	Define the minimum note (G).
static const unsigned char	NOTE_MAX = 127
	Define the maximum note (G).
static const unsigned char	SCRIPT_MAX_SIZE = 100
	Define maximum script size.
static const unsigned char	STREAM_HEADER = 19
	Stream header ``magic value''.
static const unsigned char	SENSOR_BIT_WHEELDROP_CASTER = 4
	Bit used to retrieve the wheeldrop caster status.
static const unsigned char	SENSOR_BIT_WHEELDROP_LEFT = 3
	Bit used to retrieve the wheeldrop caster status.
static const unsigned char	SENSOR_BIT_WHEELDROP_RIGHT = 2
	Bit used to retrieve the wheeldrop caster status.
static const unsigned char	SENSOR_BIT_BUMP_LEFT = 1
	Bit used to retrieve the bump left status.
static const unsigned char	SENSOR_BIT_BUMP_RIGHT = 0
	Bit used to retrieve the bump right status.
static const unsigned char	SENSOR_BIT_LEFTWHEELOVERCURRENT = 4
	Bit used to retrieve the left wheel overcurrent status.
static const unsigned char	SENSOR_BIT_RIGHTWHEELOVERCURRENT = 3
	Bit used to retrieve the right wheel overcurrent status.
static const unsigned char	SENSOR_BIT_LD2OVERCURRENT = 2
	Bit used to retrieve the LD2 overcurrent status.
static const unsigned char	SENSOR_BIT_LD1OVERCURRENT = 1
	Bit used to retrieve the LD1 overcurrent status.
static const unsigned char	SENSOR_BIT_LD0OVERCURRENT = 0
	Bit used to retrieve the LD0 overcurrent status.
static const unsigned char	SENSOR_BIT_ADVANCEBUTTON = 2
	Bit used to retrieve the advance button status.
static const unsigned char	SENSOR_BIT_PLAYBUTTON = 0
	Bit used to retrieve the play button status.
static const unsigned char	SENSOR_BIT_DEVICEDETECT = 4
	Bit used to retrieve the device detect pin status.
static const unsigned char	SENSOR_BIT_DIGITALINPUT3 = 3
	Bit used to retrieve the digital input 3 pin status.
static const unsigned char	SENSOR_BIT_DIGITALINPUT2 = 2
	Bit used to retrieve the digital input 2 pin status.
static const unsigned char	SENSOR_BIT_DIGITALINPUT1 = 1
	Bit used to retrieve the digital input 1 pin status.
static const unsigned char	SENSOR_BIT_DIGITALINPUT0 = 0
	Bit used to retrieve the digital input 0 pin status.
static const unsigned char	SENSOR_BIT_HOMEBASECHARGERAVAILABLE = 1
	Bit used to retrieve whether the home base charger is available or not.
static const unsigned char	SENSOR_BIT_INTERNALCHARGERAVAILABLE = 0
	Bit used to retrieve whether the internal charger is available or not.
Protected Member Functions
bool	readSensorPacket ()
	Read a specific sensor packet and update sensors values. The next expected sensor packet will be read.
bool	readSensorPacket (SensorPacket, std::istream &)
	Read sensor packet on a specified stream, update sensor values.
bool	readSensorPacket ()
	Read a specific sensor packet and update sensors values. The next expected sensor packet will be read.
bool	readSensorPacket (SensorPacket, std::istream &)
	Read sensor packet on a specified stream, update sensor values.

---

Detailed Description

Robot communication class, wraps Open Interface version 2.

This class allows easy and safe communication with an iRobot Create robot. When this class is instanciated, the specified std::iostream will be used for the communication.

After being initialized, the object automatically set the robot into the passive mode.

---

Member Typedef Documentation

typedef std::pair<unsigned char, unsigned char> iRobot::Create::note_t

Define a song note (frequency, duration).

typedef std::vector<note_t> iRobot::Create::song_t

Define a song (a list of notes).

See also:

note_t

typedef std::vector<unsigned char> iRobot::Create::opcodes_t

Define a vector of opcodes and arguments (a script).

See also:

Opcode

typedef std::vector<SensorPacket> iRobot::Create::sensorPackets_t

Define a vector of sensor packets.

See also:

sendQueryListCommand

sendStreamCommand

typedef std::queue<SensorPacket> iRobot::Create::queriedPackets_t

typedef std::pair<unsigned char, unsigned char> iRobot::Create::note_t

Define a song note (frequency, duration).

typedef std::vector<note_t> iRobot::Create::song_t

Define a song (a list of notes).

See also:

note_t

typedef std::vector<unsigned char> iRobot::Create::opcodes_t

Define a vector of opcodes and arguments (a script).

See also:

Opcode

typedef std::vector<SensorPacket> iRobot::Create::sensorPackets_t

Define a vector of sensor packets.

See also:

sendQueryListCommand

sendStreamCommand

typedef std::queue<SensorPacket> iRobot::Create::queriedPackets_t

---

Member Enumeration Documentation

enum iRobot::Create::Mode

iRobot Create modes The mode defines which commands are available and how the robot behaves when some events happens like wheel drop or if a cliff is detected.

Enumerator:

IROBOT_CREATE_OFF	Start-up mode, no command can be sent except start. See also: Create::sendStartCommand
IROBOT_CREATE_PASSIVE	Passive mode, actuators can not be controlled.
IROBOT_CREATE_SAFE	Safe mode, all commands are available. iRobot Create will stop if the wheels are dropped, if a cliff is detected or if the charger is plugged in and powered.
IROBOT_CREATE_FULL	Full mode, all commands are available. No safety check is done in this mode. The robot may fall from cliffs and will keep running if the wheels are dropped.
IROBOT_CREATE_OFF	Start-up mode, no command can be sent except start. See also: Create::sendStartCommand
IROBOT_CREATE_PASSIVE	Passive mode, actuators can not be controlled.
IROBOT_CREATE_SAFE	Safe mode, all commands are available. iRobot Create will stop if the wheels are dropped, if a cliff is detected or if the charger is plugged in and powered.
IROBOT_CREATE_FULL	Full mode, all commands are available. No safety check is done in this mode. The robot may fall from cliffs and will keep running if the wheels are dropped.

      {
        IROBOT_CREATE_OFF,
        IROBOT_CREATE_PASSIVE,
        IROBOT_CREATE_SAFE,
        IROBOT_CREATE_FULL
      };

enum iRobot::Create::Baud

Enumerate all possible communication speeds.

Enumerator:

BAUD_300	Communicate at 300 bauds per second.
BAUD_600	Communicate at 600 bauds per second.
BAUD_1200	Communicate at 1200 bauds per second.
BAUD_2400	Communicate at 2400 bauds per second.
BAUD_4800	Communicate at 4800 bauds per second.
BAUD_9600	Communicate at 9600 bauds per second.
BAUD_14400	Communicate at 14400 bauds per second.
BAUD_19200	Communicate at 19200 bauds per second.
BAUD_28800	Communicate at 28800 bauds per second.
BAUD_38400	Communicate at 38400 bauds per second.
BAUD_57600	Communicate at 57600 bauds per second.
BAUD_115200	Communicate at 115200 bauds per second. In this mode, be sure to keep at least 15 µs between each command.
BAUD_300	Communicate at 300 bauds per second.
BAUD_600	Communicate at 600 bauds per second.
BAUD_1200	Communicate at 1200 bauds per second.
BAUD_2400	Communicate at 2400 bauds per second.
BAUD_4800	Communicate at 4800 bauds per second.
BAUD_9600	Communicate at 9600 bauds per second.
BAUD_14400	Communicate at 14400 bauds per second.
BAUD_19200	Communicate at 19200 bauds per second.
BAUD_28800	Communicate at 28800 bauds per second.
BAUD_38400	Communicate at 38400 bauds per second.
BAUD_57600	Communicate at 57600 bauds per second.
BAUD_115200	Communicate at 115200 bauds per second. In this mode, be sure to keep at least 15 µs between each command.

      {
        BAUD_300 = 0,
        BAUD_600 = 1,
        BAUD_1200 = 2,
        BAUD_2400 = 3,
        BAUD_4800 = 4,
        BAUD_9600 = 5,
        BAUD_14400 = 6,
        BAUD_19200 = 7,
        BAUD_28800 = 8,
        BAUD_38400 = 9,
        BAUD_57600 = 10,
        BAUD_115200 = 11
      };

enum iRobot::Create::Demo

Enumerate built-in demos.

Enumerator:

DEMO_COVER	iRobot Create covers an entire room using a combination of behaviors,such as bouncing off of walls, following walls, and spiraling.
DEMO_COVER_AND_DOCK	Identical to the Cover demo, with one exception; if iRobot Create sees the Home Base’s* infrared signals, it uses these to move towards the Home Base and dock with it.
DEMO_SPOT_COVER	iRobot Create spirals outward, then inward, to cover an area around its starting position.
DEMO_MOUSE	iRobot Create tries to follow around the edges of a room using its wall sensor and bumper.
DEMO_DRIVE_FIGURE_EIGHT	iRobot Create continuously drives in a figure 8 pattern.
DEMO_WIMP	iRobot Create drives forward when pushed from behind. If iRobot Create hits an obstacle while driving, it drives away from the obstacle.
DEMO_HOME	iRobot Create drives toward a Virtual Wall when the back and sides of its Omnidirectional IR Receiver are covered with black electrical tape. When it touches the Virtual Wall or another obstacle, it stops.
DEMO_TAG	Identical to the Home demo, except iRobot Create goes back and forth between multiple Virtual Walls by bumping into one, turning around, driving to the next Virtual Wall, bumping into it and turning around to bump into the next Virtual Wall.
DEMO_PACHELBEL	iRobot Create plays the notes of Pachelbel’s Canon in sequence when its cliff sensors are activated.
DEMO_BANJO	iRobot Create’s four cliff sensors play the notes of a chord, depending on how the bumper is pressed: No bumper: G major Right or left bumper: D major7 Both bumpers (center): C major
DEMO_ABORT	Abort current running demo.
DEMO_COVER	iRobot Create covers an entire room using a combination of behaviors,such as bouncing off of walls, following walls, and spiraling.
DEMO_COVER_AND_DOCK	Identical to the Cover demo, with one exception; if iRobot Create sees the Home Base’s* infrared signals, it uses these to move towards the Home Base and dock with it.
DEMO_SPOT_COVER	iRobot Create spirals outward, then inward, to cover an area around its starting position.
DEMO_MOUSE	iRobot Create tries to follow around the edges of a room using its wall sensor and bumper.
DEMO_DRIVE_FIGURE_EIGHT	iRobot Create continuously drives in a figure 8 pattern.
DEMO_WIMP	iRobot Create drives forward when pushed from behind. If iRobot Create hits an obstacle while driving, it drives away from the obstacle.
DEMO_HOME	iRobot Create drives toward a Virtual Wall when the back and sides of its Omnidirectional IR Receiver are covered with black electrical tape. When it touches the Virtual Wall or another obstacle, it stops.
DEMO_TAG	Identical to the Home demo, except iRobot Create goes back and forth between multiple Virtual Walls by bumping into one, turning around, driving to the next Virtual Wall, bumping into it and turning around to bump into the next Virtual Wall.
DEMO_PACHELBEL	iRobot Create plays the notes of Pachelbel’s Canon in sequence when its cliff sensors are activated.
DEMO_BANJO	iRobot Create’s four cliff sensors play the notes of a chord, depending on how the bumper is pressed: No bumper: G major Right or left bumper: D major7 Both bumpers (center): C major
DEMO_ABORT	Abort current running demo.

      {
        DEMO_COVER = 0,

        DEMO_COVER_AND_DOCK = 1,

        DEMO_SPOT_COVER = 2,

        DEMO_MOUSE = 3,

        DEMO_DRIVE_FIGURE_EIGHT = 4,

        DEMO_WIMP = 5,

        DEMO_HOME = 6,

        DEMO_TAG = 7,

        DEMO_PACHELBEL = 8,

        DEMO_BANJO = 9,

        DEMO_ABORT = 255
      };

enum iRobot::Create::DriveCommand

Enumerates special driving commands.

Enumerator:

DRIVE_STRAIGHT	Drive straight.
DRIVE_INPLACE_CLOCKWISE	Turn in place clockwise.
DRIVE_INPLACE_COUNTERCLOCKWISE	Turn in place counter-clockwise.
DRIVE_STRAIGHT	Drive straight.
DRIVE_INPLACE_CLOCKWISE	Turn in place clockwise.
DRIVE_INPLACE_COUNTERCLOCKWISE	Turn in place counter-clockwise.

      {
        DRIVE_STRAIGHT,
        DRIVE_INPLACE_CLOCKWISE,
        DRIVE_INPLACE_COUNTERCLOCKWISE
      };

enum iRobot::Create::Led

Enumerate available leds (and combinations). The power led is not in this list because it is handled differently (as its color is not fixed).

Enumerator:

LED_NONE	No led.
LED_PLAY	Play led only.
LED_ADVANCE	Advance led only.
LED_ALL	All leds.
LED_NONE	No led.
LED_PLAY	Play led only.
LED_ADVANCE	Advance led only.
LED_ALL	All leds.

      {
        LED_NONE = 0,
        LED_PLAY = 2,
        LED_ADVANCE = 8,
        LED_ALL = LED_PLAY | LED_ADVANCE
      };

enum iRobot::Create::StreamState

Activate or disable sensor streaming.

Enumerator:

STREAM_STATE_OFF	Disable sensor streaming.
STREAM_STATE_ON	Activate sensor streaming.
STREAM_STATE_OFF	Disable sensor streaming.
STREAM_STATE_ON	Activate sensor streaming.

      {
        STREAM_STATE_OFF = 0,
        STREAM_STATE_ON = 1
      };

enum iRobot::Create::ChargingState

Enumerate possible charging states.

Enumerator:

CHARGING_STATE_NOT_CHARGING
CHARGING_STATE_RECONDITIONING_CHARGING
CHARGING_STATE_FULL_CHARGING
CHARGING_STATE_TRICKLE_CHARGING
CHARGING_STATE_WAITING
CHARGING_STATE_CHARGING_FAULT_CONDITION
CHARGING_STATE_NOT_CHARGING
CHARGING_STATE_RECONDITIONING_CHARGING
CHARGING_STATE_FULL_CHARGING
CHARGING_STATE_TRICKLE_CHARGING
CHARGING_STATE_WAITING
CHARGING_STATE_CHARGING_FAULT_CONDITION

      {
        CHARGING_STATE_NOT_CHARGING = 0,
        CHARGING_STATE_RECONDITIONING_CHARGING = 1,
        CHARGING_STATE_FULL_CHARGING = 2,
        CHARGING_STATE_TRICKLE_CHARGING = 3,
        CHARGING_STATE_WAITING = 4,
        CHARGING_STATE_CHARGING_FAULT_CONDITION = 5

      };

enum iRobot::Create::Event

Enumerate available events.

Enumerator:

EVENT_WHEEL_DROP	A wheel is dropped.
EVENT_FRONT_WHEEL_DROP	Front wheel is dropped.
EVENT_LEFT_WHEEL_DROP	Left wheel is dropped.
EVENT_RIGHT_WHEEL_DROP	Right wheel is dropped.
EVENT_BUMP	Front part has bumped.
EVENT_LEFT_BUMP	Left part has bumped.
EVENT_RIGHT_BUMP	Right part has bumped.
EVENT_VIRTUAL_WALL	A virtual wall has been detected.
EVENT_WALL	A wall has been detected.
EVENT_CLIFF	A cliff has been detected.
EVENT_LEFT_CLIFF	A cliff has been detected (left).
EVENT_FRONT_LEFT_CLIFF	A cliff has been detected (front left).
EVENT_FRONT_RIGHT_CLIFF	A cliff has been detected (front right).
EVENT_RIGHT_CLIFF	A cliff has been detected (right).
EVENT_HOME_BASE	Home base has been detected.
EVENT_ADVANCE_BUTTON	Advance button has been pushed.
EVENT_PLAY_BUTTON	Play button has been pushed.
EVENT_DIGITAL_INPUT_0	Digital input 0 has changed.
EVENT_DIGITAL_INPUT_1	Digital input 1 has changed.
EVENT_DIGITAL_INPUT_2	Digital input 2 has changed.
EVENT_DIGITAL_INPUT_3	Digital input 3 has changed.
EVENT_OI_MODE_PASSIVE	Robot has switched to passive mode.
EVENT_WHEEL_DROP	A wheel is dropped.
EVENT_FRONT_WHEEL_DROP	Front wheel is dropped.
EVENT_LEFT_WHEEL_DROP	Left wheel is dropped.
EVENT_RIGHT_WHEEL_DROP	Right wheel is dropped.
EVENT_BUMP	Front part has bumped.
EVENT_LEFT_BUMP	Left part has bumped.
EVENT_RIGHT_BUMP	Right part has bumped.
EVENT_VIRTUAL_WALL	A virtual wall has been detected.
EVENT_WALL	A wall has been detected.
EVENT_CLIFF	A cliff has been detected.
EVENT_LEFT_CLIFF	A cliff has been detected (left).
EVENT_FRONT_LEFT_CLIFF	A cliff has been detected (front left).
EVENT_FRONT_RIGHT_CLIFF	A cliff has been detected (front right).
EVENT_RIGHT_CLIFF	A cliff has been detected (right).
EVENT_HOME_BASE	Home base has been detected.
EVENT_ADVANCE_BUTTON	Advance button has been pushed.
EVENT_PLAY_BUTTON	Play button has been pushed.
EVENT_DIGITAL_INPUT_0	Digital input 0 has changed.
EVENT_DIGITAL_INPUT_1	Digital input 1 has changed.
EVENT_DIGITAL_INPUT_2	Digital input 2 has changed.
EVENT_DIGITAL_INPUT_3	Digital input 3 has changed.
EVENT_OI_MODE_PASSIVE	Robot has switched to passive mode.

      {
        EVENT_WHEEL_DROP = 1,
        EVENT_FRONT_WHEEL_DROP = 2,
        EVENT_LEFT_WHEEL_DROP = 3,
        EVENT_RIGHT_WHEEL_DROP = 4,
        EVENT_BUMP = 5,
        EVENT_LEFT_BUMP = 6,
        EVENT_RIGHT_BUMP = 7,
        EVENT_VIRTUAL_WALL = 8,
        EVENT_WALL = 9,
        EVENT_CLIFF = 10,
        EVENT_LEFT_CLIFF = 11,
        EVENT_FRONT_LEFT_CLIFF = 12,
        EVENT_FRONT_RIGHT_CLIFF = 13,
        EVENT_RIGHT_CLIFF = 14,
        EVENT_HOME_BASE = 15,
        EVENT_ADVANCE_BUTTON = 16,
        EVENT_PLAY_BUTTON = 17,
        EVENT_DIGITAL_INPUT_0 = 18,
        EVENT_DIGITAL_INPUT_1 = 19,
        EVENT_DIGITAL_INPUT_2 = 20,
        EVENT_DIGITAL_INPUT_3 = 21,
        EVENT_OI_MODE_PASSIVE = 22
      };

enum iRobot::Create::EventState

Indicate an event state.

Enumerator:

EVENT_OCCURRING	The event is happening currently.
EVENT_NOT_OCCURRING	The event is not happening currently.
EVENT_OCCURRING	The event is happening currently.
EVENT_NOT_OCCURRING	The event is not happening currently.

      {
        EVENT_OCCURRING,
        EVENT_NOT_OCCURRING
      };

enum iRobot::Create::Opcode

Enumerate available opcodes. Opcode are the basics instructions that the protocol support. This class wraps them to avoid using them directly. The only case where you have to use them is when you want to send an Open Interface script.

Enumerator:

OPCODE_START	Start command.
OPCODE_BAUD	Baud command.
OPCODE_CONTROL	Control command (equivalent to safe).
OPCODE_SAFE	Safe command.
OPCODE_FULL	Full command.
OPCODE_SPOT	Spot demo command.
OPCODE_COVER	Cover demo command.
OPCODE_DEMO	Demo command.
OPCODE_DRIVE	Driver command.
OPCODE_LOW_SIDE_DRIVERS	Low side drivers command.
OPCODE_LEDS	Leds command.
OPCODE_SONG	Song command.
OPCODE_PLAY	Play song command.
OPCODE_SENSORS	Sensors command.
OPCODE_COVER_AND_DOCK	Cover and dock demo command.
OPCODE_PWM_LOW_SIDE_DRIVERS	Pwm low side drivers command.
OPCODE_DRIVE_DIRECT	Driver direct command.
OPCODE_DIGITAL_OUTPUTS	Digital ouputs command.
OPCODE_STREAM	Stream command.
OPCODE_QUERY_LIST	Query list command.
OPCODE_PAUSE_RESUME_STREAM	Pause/resume stream command.
OPCODE_SEND_IR	Send IR command.
OPCODE_SCRIPT	Script command.
OPCODE_PLAY_SCRIPT	Play script command.
OPCODE_SHOW_SCRIPT	Show script command.
OPCODE_WAIT_TIME	Wait time command.
OPCODE_WAIT_DISTANCE	Wait distance command.
OPCODE_WAIT_ANGLE	Wait angle command.
OPCODE_WAIT_EVENT	Wait event command.
OPCODE_START	Start command.
OPCODE_BAUD	Baud command.
OPCODE_CONTROL	Control command (equivalent to safe).
OPCODE_SAFE	Safe command.
OPCODE_FULL	Full command.
OPCODE_SPOT	Spot demo command.
OPCODE_COVER	Cover demo command.
OPCODE_DEMO	Demo command.
OPCODE_DRIVE	Driver command.
OPCODE_LOW_SIDE_DRIVERS	Low side drivers command.
OPCODE_LEDS	Leds command.
OPCODE_SONG	Song command.
OPCODE_PLAY	Play song command.
OPCODE_SENSORS	Sensors command.
OPCODE_COVER_AND_DOCK	Cover and dock demo command.
OPCODE_PWM_LOW_SIDE_DRIVERS	Pwm low side drivers command.
OPCODE_DRIVE_DIRECT	Driver direct command.
OPCODE_DIGITAL_OUTPUTS	Digital ouputs command.
OPCODE_STREAM	Stream command.
OPCODE_QUERY_LIST	Query list command.
OPCODE_PAUSE_RESUME_STREAM	Pause/resume stream command.
OPCODE_SEND_IR	Send IR command.
OPCODE_SCRIPT	Script command.
OPCODE_PLAY_SCRIPT	Play script command.
OPCODE_SHOW_SCRIPT	Show script command.
OPCODE_WAIT_TIME	Wait time command.
OPCODE_WAIT_DISTANCE	Wait distance command.
OPCODE_WAIT_ANGLE	Wait angle command.
OPCODE_WAIT_EVENT	Wait event command.

      {
        OPCODE_START = 128,
        OPCODE_BAUD = 129,
        OPCODE_CONTROL = 130,
        OPCODE_SAFE = 131,
        OPCODE_FULL = 132,
        OPCODE_SPOT = 134,
        OPCODE_COVER = 135,
        OPCODE_DEMO = 136,
        OPCODE_DRIVE = 137,
        OPCODE_LOW_SIDE_DRIVERS = 138,
        OPCODE_LEDS = 139,
        OPCODE_SONG = 140,
        OPCODE_PLAY = 141,
        OPCODE_SENSORS = 142,
        OPCODE_COVER_AND_DOCK = 143,
        OPCODE_PWM_LOW_SIDE_DRIVERS = 144,
        OPCODE_DRIVE_DIRECT = 145,
        OPCODE_DIGITAL_OUTPUTS = 147,
        OPCODE_STREAM = 148,
        OPCODE_QUERY_LIST = 149,
        OPCODE_PAUSE_RESUME_STREAM = 150,
        OPCODE_SEND_IR = 151,
        OPCODE_SCRIPT = 152,
        OPCODE_PLAY_SCRIPT = 153,
        OPCODE_SHOW_SCRIPT = 154,
        OPCODE_WAIT_TIME = 155,
        OPCODE_WAIT_DISTANCE = 156,
        OPCODE_WAIT_ANGLE = 157,
        OPCODE_WAIT_EVENT = 158
      };

enum iRobot::Create::SensorPacket

Enumerate available sensor packets.

Enumerator:

SENSOR_GROUP_0	Groups packets 7 to 26.
SENSOR_GROUP_1	Groups packets 7 to 16.
SENSOR_GROUP_2	Groups packets 17 to 20.
SENSOR_GROUP_3	Groups packets 21 to 26.
SENSOR_GROUP_4	Groups packets 27 to 34.
SENSOR_GROUP_5	Groups packets 35 to 42.
SENSOR_GROUP_6	Groups packets 7 to 42.
SENSOR_BUMPS_WHEELS_DROPS	Wheel and bumper states.
SENSOR_WALL	Wall sensor state.
SENSOR_CLIFF_LEFT	Left cliff sensor state.
SENSOR_CLIFF_FRONT_LEFT	Front left cliff sensor state.
SENSOR_CLIFF_FRONT_RIGHT	Front right cliff sensor state.
SENSOR_CLIFF_RIGHT	Right cliff sensor state.
SENSOR_VIRTUAL_WALL	Virtual wall sensor state.
SENSOR_OVERCURRENTS	Overcurrent sensors states.
SENSOR_IR	IR bytes received.
SENSOR_BUTTONS	Buttons states.
SENSOR_DISTANCE	Traveled distance since last read.
SENSOR_ANGLE	Turned angle since last read.
SENSOR_CHARGING_STATE	Charging state.
SENSOR_VOLTAGE	Battery voltage.
SENSOR_CURRENT	Batty current.
SENSOR_BATTERY_TEMPERATURE	Battery temperature.
SENSOR_BATTERY_CHARGE	Battery charge in milliamp-hours (mAh).
SENSOR_BATTERY_CAPACITY	Battery charge capacity in milliamp-hours (mAh).
SENSOR_WALL_SIGNAL	Wall's sensor signal strength.
SENSOR_CLIFF_LEFT_SIGNAL	Left cliff signal strength.
SENSOR_CLIFF_FRONT_LEFT_SIGNAL	Front left cliff signal strength.
SENSOR_CLIFF_FRONT_RIGHT_SIGNAL	Front right cliff signal strength.
SENSOR_CLIFF_RIGHT_SIGNAL	Right cliff signal strength.
SENSOR_CARGO_BAY_DIGITAL_INPUT	Cargo Bay digital input strength.
SENSOR_CARGO_BAY_ANALOG_SIGNAL	Cargo Bay analog input strength.
SENSOR_CHARGING_SOURCES_AVAILABLE	Available charging sources.
SENSOR_OI_MODE	Current Open Interface mode.
SENSOR_SONG_NUMBER	Current selected song.
SENSOR_SONG_PLAYING	Indicates whether or not a song is being played.
SENSOR_NUMBER_STREAM_PACKETS	List of streamed packets.
SENSOR_REQUESTED_VELOCITY	Requested velocity.
SENSOR_REQUESTED_RADIUS	Requested radius.
SENSOR_REQUESTED_RIGHT_VELOCITY	Requested right velocity.
SENSOR_REQUESTED_LEFT_VELOCITY	Requested left velocity.
SENSOR_GROUP_0	Groups packets 7 to 26.
SENSOR_GROUP_1	Groups packets 7 to 16.
SENSOR_GROUP_2	Groups packets 17 to 20.
SENSOR_GROUP_3	Groups packets 21 to 26.
SENSOR_GROUP_4	Groups packets 27 to 34.
SENSOR_GROUP_5	Groups packets 35 to 42.
SENSOR_GROUP_6	Groups packets 7 to 42.
SENSOR_BUMPS_WHEELS_DROPS	Wheel and bumper states.
SENSOR_WALL	Wall sensor state.
SENSOR_CLIFF_LEFT	Left cliff sensor state.
SENSOR_CLIFF_FRONT_LEFT	Front left cliff sensor state.
SENSOR_CLIFF_FRONT_RIGHT	Front right cliff sensor state.
SENSOR_CLIFF_RIGHT	Right cliff sensor state.
SENSOR_VIRTUAL_WALL	Virtual wall sensor state.
SENSOR_OVERCURRENTS	Overcurrent sensors states.
SENSOR_IR	IR bytes received.
SENSOR_BUTTONS	Buttons states.
SENSOR_DISTANCE	Traveled distance since last read.
SENSOR_ANGLE	Turned angle since last read.
SENSOR_CHARGING_STATE	Charging state.
SENSOR_VOLTAGE	Battery voltage.
SENSOR_CURRENT	Batty current.
SENSOR_BATTERY_TEMPERATURE	Battery temperature.
SENSOR_BATTERY_CHARGE	Battery charge in milliamp-hours (mAh).
SENSOR_BATTERY_CAPACITY	Battery charge capacity in milliamp-hours (mAh).
SENSOR_WALL_SIGNAL	Wall's sensor signal strength.
SENSOR_CLIFF_LEFT_SIGNAL	Left cliff signal strength.
SENSOR_CLIFF_FRONT_LEFT_SIGNAL	Front left cliff signal strength.
SENSOR_CLIFF_FRONT_RIGHT_SIGNAL	Front right cliff signal strength.
SENSOR_CLIFF_RIGHT_SIGNAL	Right cliff signal strength.
SENSOR_CARGO_BAY_DIGITAL_INPUT	Cargo Bay digital input strength.
SENSOR_CARGO_BAY_ANALOG_SIGNAL	Cargo Bay analog input strength.
SENSOR_CHARGING_SOURCES_AVAILABLE	Available charging sources.
SENSOR_OI_MODE	Current Open Interface mode.
SENSOR_SONG_NUMBER	Current selected song.
SENSOR_SONG_PLAYING	Indicates whether or not a song is being played.
SENSOR_NUMBER_STREAM_PACKETS	List of streamed packets.
SENSOR_REQUESTED_VELOCITY	Requested velocity.
SENSOR_REQUESTED_RADIUS	Requested radius.
SENSOR_REQUESTED_RIGHT_VELOCITY	Requested right velocity.
SENSOR_REQUESTED_LEFT_VELOCITY	Requested left velocity.

      {
        SENSOR_GROUP_0 = 0,
        SENSOR_GROUP_1 = 1,
        SENSOR_GROUP_2 = 2,
        SENSOR_GROUP_3 = 3,
        SENSOR_GROUP_4 = 4,
        SENSOR_GROUP_5 = 5,
        SENSOR_GROUP_6 = 6,
        SENSOR_BUMPS_WHEELS_DROPS = 7,
        SENSOR_WALL = 8,
        SENSOR_CLIFF_LEFT = 9,
        SENSOR_CLIFF_FRONT_LEFT = 10,
        SENSOR_CLIFF_FRONT_RIGHT = 11,
        SENSOR_CLIFF_RIGHT = 12,
        SENSOR_VIRTUAL_WALL = 13,
        SENSOR_OVERCURRENTS = 14,
        SENSOR_IR = 17,
        SENSOR_BUTTONS = 18,
        SENSOR_DISTANCE = 19,
        SENSOR_ANGLE = 20,
        SENSOR_CHARGING_STATE = 21,
        SENSOR_VOLTAGE = 22,
        SENSOR_CURRENT = 23,
        SENSOR_BATTERY_TEMPERATURE = 24,
        SENSOR_BATTERY_CHARGE = 25,
        SENSOR_BATTERY_CAPACITY = 26,
        SENSOR_WALL_SIGNAL = 27,
        SENSOR_CLIFF_LEFT_SIGNAL = 28,
        SENSOR_CLIFF_FRONT_LEFT_SIGNAL = 29,
        SENSOR_CLIFF_FRONT_RIGHT_SIGNAL = 30,
        SENSOR_CLIFF_RIGHT_SIGNAL = 31,
        SENSOR_CARGO_BAY_DIGITAL_INPUT = 32,
        SENSOR_CARGO_BAY_ANALOG_SIGNAL = 33,
        SENSOR_CHARGING_SOURCES_AVAILABLE = 34,
        SENSOR_OI_MODE = 35,
        SENSOR_SONG_NUMBER = 36,
        SENSOR_SONG_PLAYING = 37,
        SENSOR_NUMBER_STREAM_PACKETS = 38,
        SENSOR_REQUESTED_VELOCITY = 39,
        SENSOR_REQUESTED_RADIUS = 40,
        SENSOR_REQUESTED_RIGHT_VELOCITY = 41,
        SENSOR_REQUESTED_LEFT_VELOCITY = 42
      };

enum iRobot::Create::Mode

iRobot Create modes The mode defines which commands are available and how the robot behaves when some events happens like wheel drop or if a cliff is detected.

Enumerator:

IROBOT_CREATE_OFF	Start-up mode, no command can be sent except start. See also: Create::sendStartCommand
IROBOT_CREATE_PASSIVE	Passive mode, actuators can not be controlled.
IROBOT_CREATE_SAFE	Safe mode, all commands are available. iRobot Create will stop if the wheels are dropped, if a cliff is detected or if the charger is plugged in and powered.
IROBOT_CREATE_FULL	Full mode, all commands are available. No safety check is done in this mode. The robot may fall from cliffs and will keep running if the wheels are dropped.
IROBOT_CREATE_OFF	Start-up mode, no command can be sent except start. See also: Create::sendStartCommand
IROBOT_CREATE_PASSIVE	Passive mode, actuators can not be controlled.
IROBOT_CREATE_SAFE	Safe mode, all commands are available. iRobot Create will stop if the wheels are dropped, if a cliff is detected or if the charger is plugged in and powered.
IROBOT_CREATE_FULL	Full mode, all commands are available. No safety check is done in this mode. The robot may fall from cliffs and will keep running if the wheels are dropped.

      {
        IROBOT_CREATE_OFF,
        IROBOT_CREATE_PASSIVE,
        IROBOT_CREATE_SAFE,
        IROBOT_CREATE_FULL
      };

enum iRobot::Create::Baud

Enumerate all possible communication speeds.

Enumerator:

BAUD_300	Communicate at 300 bauds per second.
BAUD_600	Communicate at 600 bauds per second.
BAUD_1200	Communicate at 1200 bauds per second.
BAUD_2400	Communicate at 2400 bauds per second.
BAUD_4800	Communicate at 4800 bauds per second.
BAUD_9600	Communicate at 9600 bauds per second.
BAUD_14400	Communicate at 14400 bauds per second.
BAUD_19200	Communicate at 19200 bauds per second.
BAUD_28800	Communicate at 28800 bauds per second.
BAUD_38400	Communicate at 38400 bauds per second.
BAUD_57600	Communicate at 57600 bauds per second.
BAUD_115200	Communicate at 115200 bauds per second. In this mode, be sure to keep at least 15 µs between each command.
BAUD_300	Communicate at 300 bauds per second.
BAUD_600	Communicate at 600 bauds per second.
BAUD_1200	Communicate at 1200 bauds per second.
BAUD_2400	Communicate at 2400 bauds per second.
BAUD_4800	Communicate at 4800 bauds per second.
BAUD_9600	Communicate at 9600 bauds per second.
BAUD_14400	Communicate at 14400 bauds per second.
BAUD_19200	Communicate at 19200 bauds per second.
BAUD_28800	Communicate at 28800 bauds per second.
BAUD_38400	Communicate at 38400 bauds per second.
BAUD_57600	Communicate at 57600 bauds per second.
BAUD_115200	Communicate at 115200 bauds per second. In this mode, be sure to keep at least 15 µs between each command.

      {
        BAUD_300 = 0,
        BAUD_600 = 1,
        BAUD_1200 = 2,
        BAUD_2400 = 3,
        BAUD_4800 = 4,
        BAUD_9600 = 5,
        BAUD_14400 = 6,
        BAUD_19200 = 7,
        BAUD_28800 = 8,
        BAUD_38400 = 9,
        BAUD_57600 = 10,
        BAUD_115200 = 11
      };

enum iRobot::Create::Demo

Enumerate built-in demos.

Enumerator:

DEMO_COVER	iRobot Create covers an entire room using a combination of behaviors,such as bouncing off of walls, following walls, and spiraling.
DEMO_COVER_AND_DOCK	Identical to the Cover demo, with one exception; if iRobot Create sees the Home Base’s* infrared signals, it uses these to move towards the Home Base and dock with it.
DEMO_SPOT_COVER	iRobot Create spirals outward, then inward, to cover an area around its starting position.
DEMO_MOUSE	iRobot Create tries to follow around the edges of a room using its wall sensor and bumper.
DEMO_DRIVE_FIGURE_EIGHT	iRobot Create continuously drives in a figure 8 pattern.
DEMO_WIMP	iRobot Create drives forward when pushed from behind. If iRobot Create hits an obstacle while driving, it drives away from the obstacle.
DEMO_HOME	iRobot Create drives toward a Virtual Wall when the back and sides of its Omnidirectional IR Receiver are covered with black electrical tape. When it touches the Virtual Wall or another obstacle, it stops.
DEMO_TAG	Identical to the Home demo, except iRobot Create goes back and forth between multiple Virtual Walls by bumping into one, turning around, driving to the next Virtual Wall, bumping into it and turning around to bump into the next Virtual Wall.
DEMO_PACHELBEL	iRobot Create plays the notes of Pachelbel’s Canon in sequence when its cliff sensors are activated.
DEMO_BANJO	iRobot Create’s four cliff sensors play the notes of a chord, depending on how the bumper is pressed: No bumper: G major Right or left bumper: D major7 Both bumpers (center): C major
DEMO_ABORT	Abort current running demo.
DEMO_COVER	iRobot Create covers an entire room using a combination of behaviors,such as bouncing off of walls, following walls, and spiraling.
DEMO_COVER_AND_DOCK	Identical to the Cover demo, with one exception; if iRobot Create sees the Home Base’s* infrared signals, it uses these to move towards the Home Base and dock with it.
DEMO_SPOT_COVER	iRobot Create spirals outward, then inward, to cover an area around its starting position.
DEMO_MOUSE	iRobot Create tries to follow around the edges of a room using its wall sensor and bumper.
DEMO_DRIVE_FIGURE_EIGHT	iRobot Create continuously drives in a figure 8 pattern.
DEMO_WIMP	iRobot Create drives forward when pushed from behind. If iRobot Create hits an obstacle while driving, it drives away from the obstacle.
DEMO_HOME	iRobot Create drives toward a Virtual Wall when the back and sides of its Omnidirectional IR Receiver are covered with black electrical tape. When it touches the Virtual Wall or another obstacle, it stops.
DEMO_TAG	Identical to the Home demo, except iRobot Create goes back and forth between multiple Virtual Walls by bumping into one, turning around, driving to the next Virtual Wall, bumping into it and turning around to bump into the next Virtual Wall.
DEMO_PACHELBEL	iRobot Create plays the notes of Pachelbel’s Canon in sequence when its cliff sensors are activated.
DEMO_BANJO	iRobot Create’s four cliff sensors play the notes of a chord, depending on how the bumper is pressed: No bumper: G major Right or left bumper: D major7 Both bumpers (center): C major
DEMO_ABORT	Abort current running demo.

      {
        DEMO_COVER = 0,

        DEMO_COVER_AND_DOCK = 1,

        DEMO_SPOT_COVER = 2,

        DEMO_MOUSE = 3,

        DEMO_DRIVE_FIGURE_EIGHT = 4,

        DEMO_WIMP = 5,

        DEMO_HOME = 6,

        DEMO_TAG = 7,

        DEMO_PACHELBEL = 8,

        DEMO_BANJO = 9,

        DEMO_ABORT = 255
      };

enum iRobot::Create::DriveCommand

Enumerates special driving commands.

Enumerator:

DRIVE_STRAIGHT	Drive straight.
DRIVE_INPLACE_CLOCKWISE	Turn in place clockwise.
DRIVE_INPLACE_COUNTERCLOCKWISE	Turn in place counter-clockwise.
DRIVE_STRAIGHT	Drive straight.
DRIVE_INPLACE_CLOCKWISE	Turn in place clockwise.
DRIVE_INPLACE_COUNTERCLOCKWISE	Turn in place counter-clockwise.

      {
        DRIVE_STRAIGHT,
        DRIVE_INPLACE_CLOCKWISE,
        DRIVE_INPLACE_COUNTERCLOCKWISE
      };

enum iRobot::Create::Led

Enumerate available leds (and combinations). The power led is not in this list because it is handled differently (as its color is not fixed).

Enumerator:

LED_NONE	No led.
LED_PLAY	Play led only.
LED_ADVANCE	Advance led only.
LED_ALL	All leds.
LED_NONE	No led.
LED_PLAY	Play led only.
LED_ADVANCE	Advance led only.
LED_ALL	All leds.

      {
        LED_NONE = 0,
        LED_PLAY = 2,
        LED_ADVANCE = 8,
        LED_ALL = LED_PLAY | LED_ADVANCE
      };

enum iRobot::Create::StreamState

Activate or disable sensor streaming.

Enumerator:

STREAM_STATE_OFF	Disable sensor streaming.
STREAM_STATE_ON	Activate sensor streaming.
STREAM_STATE_OFF	Disable sensor streaming.
STREAM_STATE_ON	Activate sensor streaming.

      {
        STREAM_STATE_OFF = 0,
        STREAM_STATE_ON = 1
      };

enum iRobot::Create::ChargingState

Enumerate possible charging states.

Enumerator:

CHARGING_STATE_NOT_CHARGING
CHARGING_STATE_RECONDITIONING_CHARGING
CHARGING_STATE_FULL_CHARGING
CHARGING_STATE_TRICKLE_CHARGING
CHARGING_STATE_WAITING
CHARGING_STATE_CHARGING_FAULT_CONDITION
CHARGING_STATE_NOT_CHARGING
CHARGING_STATE_RECONDITIONING_CHARGING
CHARGING_STATE_FULL_CHARGING
CHARGING_STATE_TRICKLE_CHARGING
CHARGING_STATE_WAITING
CHARGING_STATE_CHARGING_FAULT_CONDITION

      {
        CHARGING_STATE_NOT_CHARGING = 0,
        CHARGING_STATE_RECONDITIONING_CHARGING = 1,
        CHARGING_STATE_FULL_CHARGING = 2,
        CHARGING_STATE_TRICKLE_CHARGING = 3,
        CHARGING_STATE_WAITING = 4,
        CHARGING_STATE_CHARGING_FAULT_CONDITION = 5

      };

enum iRobot::Create::Event

Enumerate available events.

Enumerator:

EVENT_WHEEL_DROP	A wheel is dropped.
EVENT_FRONT_WHEEL_DROP	Front wheel is dropped.
EVENT_LEFT_WHEEL_DROP	Left wheel is dropped.
EVENT_RIGHT_WHEEL_DROP	Right wheel is dropped.
EVENT_BUMP	Front part has bumped.
EVENT_LEFT_BUMP	Left part has bumped.
EVENT_RIGHT_BUMP	Right part has bumped.
EVENT_VIRTUAL_WALL	A virtual wall has been detected.
EVENT_WALL	A wall has been detected.
EVENT_CLIFF	A cliff has been detected.
EVENT_LEFT_CLIFF	A cliff has been detected (left).
EVENT_FRONT_LEFT_CLIFF	A cliff has been detected (front left).
EVENT_FRONT_RIGHT_CLIFF	A cliff has been detected (front right).
EVENT_RIGHT_CLIFF	A cliff has been detected (right).
EVENT_HOME_BASE	Home base has been detected.
EVENT_ADVANCE_BUTTON	Advance button has been pushed.
EVENT_PLAY_BUTTON	Play button has been pushed.
EVENT_DIGITAL_INPUT_0	Digital input 0 has changed.
EVENT_DIGITAL_INPUT_1	Digital input 1 has changed.
EVENT_DIGITAL_INPUT_2	Digital input 2 has changed.
EVENT_DIGITAL_INPUT_3	Digital input 3 has changed.
EVENT_OI_MODE_PASSIVE	Robot has switched to passive mode.
EVENT_WHEEL_DROP	A wheel is dropped.
EVENT_FRONT_WHEEL_DROP	Front wheel is dropped.
EVENT_LEFT_WHEEL_DROP	Left wheel is dropped.
EVENT_RIGHT_WHEEL_DROP	Right wheel is dropped.
EVENT_BUMP	Front part has bumped.
EVENT_LEFT_BUMP	Left part has bumped.
EVENT_RIGHT_BUMP	Right part has bumped.
EVENT_VIRTUAL_WALL	A virtual wall has been detected.
EVENT_WALL	A wall has been detected.
EVENT_CLIFF	A cliff has been detected.
EVENT_LEFT_CLIFF	A cliff has been detected (left).
EVENT_FRONT_LEFT_CLIFF	A cliff has been detected (front left).
EVENT_FRONT_RIGHT_CLIFF	A cliff has been detected (front right).
EVENT_RIGHT_CLIFF	A cliff has been detected (right).
EVENT_HOME_BASE	Home base has been detected.
EVENT_ADVANCE_BUTTON	Advance button has been pushed.
EVENT_PLAY_BUTTON	Play button has been pushed.
EVENT_DIGITAL_INPUT_0	Digital input 0 has changed.
EVENT_DIGITAL_INPUT_1	Digital input 1 has changed.
EVENT_DIGITAL_INPUT_2	Digital input 2 has changed.
EVENT_DIGITAL_INPUT_3	Digital input 3 has changed.
EVENT_OI_MODE_PASSIVE	Robot has switched to passive mode.

      {
        EVENT_WHEEL_DROP = 1,
        EVENT_FRONT_WHEEL_DROP = 2,
        EVENT_LEFT_WHEEL_DROP = 3,
        EVENT_RIGHT_WHEEL_DROP = 4,
        EVENT_BUMP = 5,
        EVENT_LEFT_BUMP = 6,
        EVENT_RIGHT_BUMP = 7,
        EVENT_VIRTUAL_WALL = 8,
        EVENT_WALL = 9,
        EVENT_CLIFF = 10,
        EVENT_LEFT_CLIFF = 11,
        EVENT_FRONT_LEFT_CLIFF = 12,
        EVENT_FRONT_RIGHT_CLIFF = 13,
        EVENT_RIGHT_CLIFF = 14,
        EVENT_HOME_BASE = 15,
        EVENT_ADVANCE_BUTTON = 16,
        EVENT_PLAY_BUTTON = 17,
        EVENT_DIGITAL_INPUT_0 = 18,
        EVENT_DIGITAL_INPUT_1 = 19,
        EVENT_DIGITAL_INPUT_2 = 20,
        EVENT_DIGITAL_INPUT_3 = 21,
        EVENT_OI_MODE_PASSIVE = 22
      };

enum iRobot::Create::EventState

Indicate an event state.

Enumerator:

EVENT_OCCURRING	The event is happening currently.
EVENT_NOT_OCCURRING	The event is not happening currently.
EVENT_OCCURRING	The event is happening currently.
EVENT_NOT_OCCURRING	The event is not happening currently.

      {
        EVENT_OCCURRING,
        EVENT_NOT_OCCURRING
      };

enum iRobot::Create::Opcode

Enumerate available opcodes. Opcode are the basics instructions that the protocol support. This class wraps them to avoid using them directly. The only case where you have to use them is when you want to send an Open Interface script.

Enumerator:

OPCODE_START	Start command.
OPCODE_BAUD	Baud command.
OPCODE_CONTROL	Control command (equivalent to safe).
OPCODE_SAFE	Safe command.
OPCODE_FULL	Full command.
OPCODE_SPOT	Spot demo command.
OPCODE_COVER	Cover demo command.
OPCODE_DEMO	Demo command.
OPCODE_DRIVE	Driver command.
OPCODE_LOW_SIDE_DRIVERS	Low side drivers command.
OPCODE_LEDS	Leds command.
OPCODE_SONG	Song command.
OPCODE_PLAY	Play song command.
OPCODE_SENSORS	Sensors command.
OPCODE_COVER_AND_DOCK	Cover and dock demo command.
OPCODE_PWM_LOW_SIDE_DRIVERS	Pwm low side drivers command.
OPCODE_DRIVE_DIRECT	Driver direct command.
OPCODE_DIGITAL_OUTPUTS	Digital ouputs command.
OPCODE_STREAM	Stream command.
OPCODE_QUERY_LIST	Query list command.
OPCODE_PAUSE_RESUME_STREAM	Pause/resume stream command.
OPCODE_SEND_IR	Send IR command.
OPCODE_SCRIPT	Script command.
OPCODE_PLAY_SCRIPT	Play script command.
OPCODE_SHOW_SCRIPT	Show script command.
OPCODE_WAIT_TIME	Wait time command.
OPCODE_WAIT_DISTANCE	Wait distance command.
OPCODE_WAIT_ANGLE	Wait angle command.
OPCODE_WAIT_EVENT	Wait event command.
OPCODE_START	Start command.
OPCODE_BAUD	Baud command.
OPCODE_CONTROL	Control command (equivalent to safe).
OPCODE_SAFE	Safe command.
OPCODE_FULL	Full command.
OPCODE_SPOT	Spot demo command.
OPCODE_COVER	Cover demo command.
OPCODE_DEMO	Demo command.
OPCODE_DRIVE	Driver command.
OPCODE_LOW_SIDE_DRIVERS	Low side drivers command.
OPCODE_LEDS	Leds command.
OPCODE_SONG	Song command.
OPCODE_PLAY	Play song command.
OPCODE_SENSORS	Sensors command.
OPCODE_COVER_AND_DOCK	Cover and dock demo command.
OPCODE_PWM_LOW_SIDE_DRIVERS	Pwm low side drivers command.
OPCODE_DRIVE_DIRECT	Driver direct command.
OPCODE_DIGITAL_OUTPUTS	Digital ouputs command.
OPCODE_STREAM	Stream command.
OPCODE_QUERY_LIST	Query list command.
OPCODE_PAUSE_RESUME_STREAM	Pause/resume stream command.
OPCODE_SEND_IR	Send IR command.
OPCODE_SCRIPT	Script command.
OPCODE_PLAY_SCRIPT	Play script command.
OPCODE_SHOW_SCRIPT	Show script command.
OPCODE_WAIT_TIME	Wait time command.
OPCODE_WAIT_DISTANCE	Wait distance command.
OPCODE_WAIT_ANGLE	Wait angle command.
OPCODE_WAIT_EVENT	Wait event command.

      {
        OPCODE_START = 128,
        OPCODE_BAUD = 129,
        OPCODE_CONTROL = 130,
        OPCODE_SAFE = 131,
        OPCODE_FULL = 132,
        OPCODE_SPOT = 134,
        OPCODE_COVER = 135,
        OPCODE_DEMO = 136,
        OPCODE_DRIVE = 137,
        OPCODE_LOW_SIDE_DRIVERS = 138,
        OPCODE_LEDS = 139,
        OPCODE_SONG = 140,
        OPCODE_PLAY = 141,
        OPCODE_SENSORS = 142,
        OPCODE_COVER_AND_DOCK = 143,
        OPCODE_PWM_LOW_SIDE_DRIVERS = 144,
        OPCODE_DRIVE_DIRECT = 145,
        OPCODE_DIGITAL_OUTPUTS = 147,
        OPCODE_STREAM = 148,
        OPCODE_QUERY_LIST = 149,
        OPCODE_PAUSE_RESUME_STREAM = 150,
        OPCODE_SEND_IR = 151,
        OPCODE_SCRIPT = 152,
        OPCODE_PLAY_SCRIPT = 153,
        OPCODE_SHOW_SCRIPT = 154,
        OPCODE_WAIT_TIME = 155,
        OPCODE_WAIT_DISTANCE = 156,
        OPCODE_WAIT_ANGLE = 157,
        OPCODE_WAIT_EVENT = 158
      };

enum iRobot::Create::SensorPacket

Enumerate available sensor packets.

Enumerator:

SENSOR_GROUP_0	Groups packets 7 to 26.
SENSOR_GROUP_1	Groups packets 7 to 16.
SENSOR_GROUP_2	Groups packets 17 to 20.
SENSOR_GROUP_3	Groups packets 21 to 26.
SENSOR_GROUP_4	Groups packets 27 to 34.
SENSOR_GROUP_5	Groups packets 35 to 42.
SENSOR_GROUP_6	Groups packets 7 to 42.
SENSOR_BUMPS_WHEELS_DROPS	Wheel and bumper states.
SENSOR_WALL	Wall sensor state.
SENSOR_CLIFF_LEFT	Left cliff sensor state.
SENSOR_CLIFF_FRONT_LEFT	Front left cliff sensor state.
SENSOR_CLIFF_FRONT_RIGHT	Front right cliff sensor state.
SENSOR_CLIFF_RIGHT	Right cliff sensor state.
SENSOR_VIRTUAL_WALL	Virtual wall sensor state.
SENSOR_OVERCURRENTS	Overcurrent sensors states.
SENSOR_IR	IR bytes received.
SENSOR_BUTTONS	Buttons states.
SENSOR_DISTANCE	Traveled distance since last read.
SENSOR_ANGLE	Turned angle since last read.
SENSOR_CHARGING_STATE	Charging state.
SENSOR_VOLTAGE	Battery voltage.
SENSOR_CURRENT	Batty current.
SENSOR_BATTERY_TEMPERATURE	Battery temperature.
SENSOR_BATTERY_CHARGE	Battery charge in milliamp-hours (mAh).
SENSOR_BATTERY_CAPACITY	Battery charge capacity in milliamp-hours (mAh).
SENSOR_WALL_SIGNAL	Wall's sensor signal strength.
SENSOR_CLIFF_LEFT_SIGNAL	Left cliff signal strength.
SENSOR_CLIFF_FRONT_LEFT_SIGNAL	Front left cliff signal strength.
SENSOR_CLIFF_FRONT_RIGHT_SIGNAL	Front right cliff signal strength.
SENSOR_CLIFF_RIGHT_SIGNAL	Right cliff signal strength.
SENSOR_CARGO_BAY_DIGITAL_INPUT	Cargo Bay digital input strength.
SENSOR_CARGO_BAY_ANALOG_SIGNAL	Cargo Bay analog input strength.
SENSOR_CHARGING_SOURCES_AVAILABLE	Available charging sources.
SENSOR_OI_MODE	Current Open Interface mode.
SENSOR_SONG_NUMBER	Current selected song.
SENSOR_SONG_PLAYING	Indicates whether or not a song is being played.
SENSOR_NUMBER_STREAM_PACKETS	List of streamed packets.
SENSOR_REQUESTED_VELOCITY	Requested velocity.
SENSOR_REQUESTED_RADIUS	Requested radius.
SENSOR_REQUESTED_RIGHT_VELOCITY	Requested right velocity.
SENSOR_REQUESTED_LEFT_VELOCITY	Requested left velocity.
SENSOR_GROUP_0	Groups packets 7 to 26.
SENSOR_GROUP_1	Groups packets 7 to 16.
SENSOR_GROUP_2	Groups packets 17 to 20.
SENSOR_GROUP_3	Groups packets 21 to 26.
SENSOR_GROUP_4	Groups packets 27 to 34.
SENSOR_GROUP_5	Groups packets 35 to 42.
SENSOR_GROUP_6	Groups packets 7 to 42.
SENSOR_BUMPS_WHEELS_DROPS	Wheel and bumper states.
SENSOR_WALL	Wall sensor state.
SENSOR_CLIFF_LEFT	Left cliff sensor state.
SENSOR_CLIFF_FRONT_LEFT	Front left cliff sensor state.
SENSOR_CLIFF_FRONT_RIGHT	Front right cliff sensor state.
SENSOR_CLIFF_RIGHT	Right cliff sensor state.
SENSOR_VIRTUAL_WALL	Virtual wall sensor state.
SENSOR_OVERCURRENTS	Overcurrent sensors states.
SENSOR_IR	IR bytes received.
SENSOR_BUTTONS	Buttons states.
SENSOR_DISTANCE	Traveled distance since last read.
SENSOR_ANGLE	Turned angle since last read.
SENSOR_CHARGING_STATE	Charging state.
SENSOR_VOLTAGE	Battery voltage.
SENSOR_CURRENT	Batty current.
SENSOR_BATTERY_TEMPERATURE	Battery temperature.
SENSOR_BATTERY_CHARGE	Battery charge in milliamp-hours (mAh).
SENSOR_BATTERY_CAPACITY	Battery charge capacity in milliamp-hours (mAh).
SENSOR_WALL_SIGNAL	Wall's sensor signal strength.
SENSOR_CLIFF_LEFT_SIGNAL	Left cliff signal strength.
SENSOR_CLIFF_FRONT_LEFT_SIGNAL	Front left cliff signal strength.
SENSOR_CLIFF_FRONT_RIGHT_SIGNAL	Front right cliff signal strength.
SENSOR_CLIFF_RIGHT_SIGNAL	Right cliff signal strength.
SENSOR_CARGO_BAY_DIGITAL_INPUT	Cargo Bay digital input strength.
SENSOR_CARGO_BAY_ANALOG_SIGNAL	Cargo Bay analog input strength.
SENSOR_CHARGING_SOURCES_AVAILABLE	Available charging sources.
SENSOR_OI_MODE	Current Open Interface mode.
SENSOR_SONG_NUMBER	Current selected song.
SENSOR_SONG_PLAYING	Indicates whether or not a song is being played.
SENSOR_NUMBER_STREAM_PACKETS	List of streamed packets.
SENSOR_REQUESTED_VELOCITY	Requested velocity.
SENSOR_REQUESTED_RADIUS	Requested radius.
SENSOR_REQUESTED_RIGHT_VELOCITY	Requested right velocity.
SENSOR_REQUESTED_LEFT_VELOCITY	Requested left velocity.

      {
        SENSOR_GROUP_0 = 0,
        SENSOR_GROUP_1 = 1,
        SENSOR_GROUP_2 = 2,
        SENSOR_GROUP_3 = 3,
        SENSOR_GROUP_4 = 4,
        SENSOR_GROUP_5 = 5,
        SENSOR_GROUP_6 = 6,
        SENSOR_BUMPS_WHEELS_DROPS = 7,
        SENSOR_WALL = 8,
        SENSOR_CLIFF_LEFT = 9,
        SENSOR_CLIFF_FRONT_LEFT = 10,
        SENSOR_CLIFF_FRONT_RIGHT = 11,
        SENSOR_CLIFF_RIGHT = 12,
        SENSOR_VIRTUAL_WALL = 13,
        SENSOR_OVERCURRENTS = 14,
        SENSOR_IR = 17,
        SENSOR_BUTTONS = 18,
        SENSOR_DISTANCE = 19,
        SENSOR_ANGLE = 20,
        SENSOR_CHARGING_STATE = 21,
        SENSOR_VOLTAGE = 22,
        SENSOR_CURRENT = 23,
        SENSOR_BATTERY_TEMPERATURE = 24,
        SENSOR_BATTERY_CHARGE = 25,
        SENSOR_BATTERY_CAPACITY = 26,
        SENSOR_WALL_SIGNAL = 27,
        SENSOR_CLIFF_LEFT_SIGNAL = 28,
        SENSOR_CLIFF_FRONT_LEFT_SIGNAL = 29,
        SENSOR_CLIFF_FRONT_RIGHT_SIGNAL = 30,
        SENSOR_CLIFF_RIGHT_SIGNAL = 31,
        SENSOR_CARGO_BAY_DIGITAL_INPUT = 32,
        SENSOR_CARGO_BAY_ANALOG_SIGNAL = 33,
        SENSOR_CHARGING_SOURCES_AVAILABLE = 34,
        SENSOR_OI_MODE = 35,
        SENSOR_SONG_NUMBER = 36,
        SENSOR_SONG_PLAYING = 37,
        SENSOR_NUMBER_STREAM_PACKETS = 38,
        SENSOR_REQUESTED_VELOCITY = 39,
        SENSOR_REQUESTED_RADIUS = 40,
        SENSOR_REQUESTED_RIGHT_VELOCITY = 41,
        SENSOR_REQUESTED_LEFT_VELOCITY = 42
      };

---

Constructor & Destructor Documentation

iRobot::Create::Create

(

std::iostream &

stream

)

throw (InvalidArgument) [explicit]

Construct an instance of Create.

Parameters:

stream

Stream used for communication.

    : currentMode_ (IROBOT_CREATE_OFF),
      stream_ (stream),
      INITIALIZE_SENSORS ()
  {
    init ();
  }

iRobot::Create::Create

(

LibSerial::SerialStream &

stream

)

throw (InvalidArgument, LibSerialNotAvailable) [explicit]

Construct an instance of Create using serial port communication.

Parameters:

stream

Stream used for communication.

  : stream_ ((std::iostream&)stream)
  {
    throw LibSerialNotAvailable ();
    assert (0);
  }

iRobot::Create::~Create

(

)

throw ()

Destroy an instance of Create.

  {}

iRobot::Create::Create

(

std::iostream &

stream

)

throw (InvalidArgument) [explicit]

Construct an instance of Create.

Parameters:

stream

Stream used for communication.

iRobot::Create::Create

(

LibSerial::SerialStream &

stream

)

throw (InvalidArgument, LibSerialNotAvailable) [explicit]

Construct an instance of Create using serial port communication.

Parameters:

stream

Stream used for communication.

iRobot::Create::~Create

(

)

throw ()

Destroy an instance of Create.

---

Member Function Documentation

void iRobot::Create::sendBaudCommand

(

Baud

speed

)

throw (CommandNotAvailable, InvalidArgument)

Change the communication speed. After changing the communication speed, it is required to wait at least 100ms.

Parameters:

speed

New communication speed.

HAVE_LIBSERIAL

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    if (baud < 0 || baud > BAUD_115200)
      throw InvalidArgument ();
    const unsigned char op  = OPCODE_BAUD;
    const unsigned char b = baud;
    stream_ << op << b;
    stream_.flush ();

#ifdef HAVE_LIBSERIAL
    {
      LibSerial::SerialStream* stream =
        dynamic_cast<LibSerial::SerialStream*> (&stream_);
      if (!!stream)
        stream->SetBaudRate (toLibSerialBaud (baud));
    }
#endif 

    usleep (100 * 1000);
  }

void iRobot::Create::sendStartCommand

(

)

Switch to passive mode. Automatically done when the class is instanciated.

  {
    if (currentMode_ != IROBOT_CREATE_OFF)
      return;
    const unsigned char op  = OPCODE_START;

    stream_ << op;
    stream_.flush ();
    currentMode_ = IROBOT_CREATE_PASSIVE;
  }

void iRobot::Create::sendSafeCommand

(

)

throw (CommandNotAvailable)

Switch to safe mode.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    const unsigned char op  = OPCODE_SAFE;
    stream_ << op;
    stream_.flush ();
    currentMode_ = IROBOT_CREATE_SAFE;
  }

void iRobot::Create::sendFullCommand

(

)

throw (CommandNotAvailable)

Switch to full mode.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    const unsigned char op  = OPCODE_FULL;
    stream_ << op;
    stream_.flush ();
    currentMode_ = IROBOT_CREATE_FULL;
  }

void iRobot::Create::sendDemoCommand

(

Demo

demo

)

throw (CommandNotAvailable, InvalidArgument)

Run a built-in demo.

Parameters:

demo

Demo id.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    if (demo != DEMO_ABORT && (demo < 0 || demo > DEMO_BANJO))
      throw InvalidArgument ();
    const unsigned char op  = OPCODE_DEMO;
    const unsigned char d = demo;
    stream_ << op << d;
    stream_.flush ();
    currentMode_ = IROBOT_CREATE_PASSIVE;
  }

void iRobot::Create::sendDriveCommand	(	short	v,
		short	r
	)			throw (CommandNotAvailable, InvalidArgument)

Drive the robot.

Parameters:

	v	Robot's velocity.
	r	Robot's turning radius.

See also:

sendDriveDirectCommand

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();
    if (velocity < VELOCITY_MIN || velocity > VELOCITY_MAX)
      throw InvalidArgument ();
    if (radius < RADIUS_MIN || radius > RADIUS_MAX)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_DRIVE;

    stream_ << op;
    sendInt16 (stream_, velocity);
    sendInt16 (stream_, radius);
    stream_.flush ();
  }

void iRobot::Create::sendDriveCommand	(	short	v,
		DriveCommand	dc
	)			throw (CommandNotAvailable, InvalidArgument)

Drive the robot using a special drigin mode.

Parameters:

	v	Robot's velocity.
	dc	Special driving mode.

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();
    if (velocity < VELOCITY_MIN || velocity > VELOCITY_MAX)
      throw InvalidArgument ();

    int arg = 0;
    switch (cmd)
      {
      case DRIVE_STRAIGHT:
        arg = 0x8000;
        break;
      case DRIVE_INPLACE_CLOCKWISE:
        arg = 0xFFFF;
        break;
      case DRIVE_INPLACE_COUNTERCLOCKWISE:
        arg = 0x0001;
        break;
      default:
        throw InvalidArgument ();
      }

    const unsigned char op  = OPCODE_DRIVE;
    stream_ << op;
    sendInt16 (stream_, velocity);
    sendInt16 (stream_, arg);
    stream_.flush ();
  }

void iRobot::Create::sendDriveDirectCommand	(	short	vr,
		short	vl
	)			throw (CommandNotAvailable, InvalidArgument)

Drive the two wheels separately.

Parameters:

	vr	Right wheel's velocity.
	vl	Left wheel's velocity.

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();
    if (velocityL < VELOCITY_MIN || velocityL > VELOCITY_MAX)
      throw InvalidArgument ();
    if (velocityR < VELOCITY_MIN || velocityR > VELOCITY_MAX)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_DRIVE_DIRECT;
    stream_ << op;
    sendInt16 (stream_, velocityR);
    sendInt16 (stream_, velocityL);
    stream_.flush ();
  }

void iRobot::Create::sendLedCommand	(	Led	l,
		unsigned char	c,
		unsigned char	i
	)			throw (CommandNotAvailable, InvalidArgument)

Change led status.

Parameters:

	l	Switch on/off advance or play leds.
	c	Power led color.
	i	Power led light intensity.

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();
    if (ledBits < LED_NONE || ledBits > LED_ALL)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_LEDS;
    const unsigned char b = ledBits;
    stream_ << op << b << powerColor << powerIntensity;
    stream_.flush ();
  }

void iRobot::Create::sendDigitalOutputsCommand	(	bool	d1,
		bool	d2,
		bool	d3
	)			throw (CommandNotAvailable)

Change the digital output values.

Parameters:

	d1	Switch on/off first digital output.
	d2	Switch on/off second digital output.
	d3	Switch on/off third digital output.

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();

    const unsigned char op  = OPCODE_DIGITAL_OUTPUTS;
    const unsigned char v = d0 + d1 * 2 + d2 * 4;
    stream_ << op << v;
    stream_.flush ();
  }

void iRobot::Create::sendPwmLowSideDriversCommand	(	unsigned char	lsd1,
		unsigned char	lsd2,
		unsigned char	lsd3
	)			throw (CommandNotAvailable, InvalidArgument)

Drive low side drivers with variable power.

Parameters:

	lsd1	Low side driver 1 power.
	lsd2	Low side driver 2 power.
	lsd3	Low side driver 3 power.

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();
    if (d1 > LOW_SIDE_VELOCITY_MAX
        || d2 > LOW_SIDE_VELOCITY_MAX
        || d3 > LOW_SIDE_VELOCITY_MAX)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_PWM_LOW_SIDE_DRIVERS;
    stream_ << op << d1 << d2 << d3;
    stream_.flush ();
  }

void iRobot::Create::sendLowSideDriversCommand	(	bool	lsd1,
		bool	lsd2,
		bool	lsd3
	)			throw (CommandNotAvailable)

Switch on/off low side drivers.

Parameters:

	lsd1	Switch on/off low side driver 1.
	lsd2	Switch on/off low side driver 2.
	lsd3	Switch on/off low side driver 3.

See also:

sendPwmLowSideDriversCommand

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();

    const unsigned char op  = OPCODE_LOW_SIDE_DRIVERS;
    const unsigned char v = ld0 + ld1 * 2 + sd * 4;
    stream_ << op << v;
    stream_.flush ();
  }

void iRobot::Create::sendIrCommand

(

unsigned char

v

)

throw (CommandNotAvailable)

Send an IR command on low side driver 1. The data will be encoded using the iRobot's Create receiver format.

Parameters:

v

Sent value.

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();

    const unsigned char op  = OPCODE_SEND_IR;
    stream_ << op << v;
    stream_.flush ();
  }

void iRobot::Create::sendSongCommand	(	unsigned char	sid,
		const song_t &	song
	)			throw (CommandNotAvailable, InvalidArgument)

Define a song.

Parameters:

	sid	Song id.
	song	Song to send.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    if (songN > SONG_MAX)
      throw InvalidArgument ();
    if (song.size () > SONG_MAX_SIZE)
      throw InvalidArgument ();

    std::stringstream ss;
    for (song_t::const_iterator it = song.begin (); it != song.end (); ++it)
      {
        if (it->first < NO_NOTE || it->first > NOTE_MAX)
          throw InvalidArgument ();
        ss << it->first << it->second;
      }
    const unsigned char op  = OPCODE_SONG;
    const unsigned char size = song.size ();
    stream_ << op << songN << size << ss.str ();
    stream_.flush ();
  }

void iRobot::Create::sendPlaySongCommand

(

unsigned char

sid

)

throw (CommandNotAvailable, InvalidArgument)

Play a song.

Parameters:

sid

Sond id to play.

  {
    if (currentMode_ < IROBOT_CREATE_SAFE)
      throw CommandNotAvailable ();
    if (v > SONG_MAX)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_PLAY;
    stream_ << op << v;
    stream_.flush ();
  }

void iRobot::Create::sendSensorsCommand

(

SensorPacket

sp

)

throw (CommandNotAvailable, InvalidArgument)

Request the robot to send a particular sensor packet.

Parameters:

sp

Sensor packet to send.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    if (packet < SENSOR_GROUP_0
        || packet > SENSOR_REQUESTED_LEFT_VELOCITY)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_SENSORS;
    const unsigned char p = packet;
    stream_ << op << p;

    queriedSensors_.push (packet);
    stream_.flush ();
  }

void iRobot::Create::sendQueryListCommand

(

const sensorPackets_t &

lsp

)

throw (CommandNotAvailable, InvalidArgument)

Request the robot to send a list of sensor packets.

Parameters:

lsp

List of sensor packets to send

  {
    MAKE_SENSOR_CMD (OPCODE_QUERY_LIST,
                     queriedSensors_.push (*it));
  }

void iRobot::Create::sendStreamCommand

(

const sensorPackets_t &

lsp

)

throw (CommandNotAvailable, InvalidArgument)

Request the robot to start streaming some sensor packets. After the streaming is started, the requested values will be sent every 15ms.

Parameters:

lsp

List of sensor packets to stream.

  {
    MAKE_SENSOR_CMD (OPCODE_STREAM,
                     streamedSensors_.push_back (*it));
  }

void iRobot::Create::sendPauseStreamCommand

(

StreamState

st

)

throw (CommandNotAvailable, InvalidArgument)

Pause or resume sensor streaming.

Parameters:

st

Stream state to set.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    if (state < 0 || state > STREAM_STATE_ON)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_PAUSE_RESUME_STREAM;
    const unsigned char st = state;
    stream_ << op << st;
    stream_.flush ();
  }

void iRobot::Create::sendScriptCommand

(

const opcodes_t &

script

)

throw (CommandNotAvailable, InvalidArgument)

Send a script.

Parameters:

script

Script to send.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    if (opcodes.size () > SCRIPT_MAX_SIZE)
      throw InvalidArgument ();

    std::stringstream ss;
    for (opcodes_t::const_iterator it = opcodes.begin ();
         it != opcodes.end (); ++it)
      {
        if (*it < OPCODE_START
            || *it > OPCODE_WAIT_EVENT)
          throw InvalidArgument ();
        const unsigned char opcode = *it;
        ss << opcode;
      }

    const unsigned char op = OPCODE_SCRIPT;
    const unsigned char size = opcodes.size ();
    stream_ << op << size << ss.str ();
    stream_.flush ();
  }

void iRobot::Create::sendPlayScriptCommand

(

)

throw (CommandNotAvailable)

Play the current stored script.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();

    const unsigned char op  = OPCODE_PLAY_SCRIPT;
    stream_ << op;
    stream_.flush ();
  }

void iRobot::Create::sendShowScriptCommand

(

)

throw (CommandNotAvailable)

Show the stored script.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();

    const unsigned char op  = OPCODE_SHOW_SCRIPT;
    stream_ << op;
    stream_.flush ();
  }

void iRobot::Create::sendWaitTimeCommand

(

unsigned char

t

)

throw (CommandNotAvailable)

Make the robot wait for a specific amount of time.

Parameters:

t

Time to wait in tenth of a second (resolution of 15 ms).

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();

    const unsigned char op  = OPCODE_WAIT_TIME;
    stream_ << op << t;
    stream_.flush ();
  }

void iRobot::Create::sendWaitDistanceCommand

(

short

d

)

throw (CommandNotAvailable)

Make the robot wait until it travelled a certain distance.

Parameters:

d

Distance to travel

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();

    const unsigned char op = OPCODE_WAIT_DISTANCE;
    stream_ << op;
    sendInt16 (stream_, d);
    stream_.flush ();
  }

void iRobot::Create::sendWaitAngleCommand

(

short

a

)

throw (CommandNotAvailable)

Make the robot wait until it has rotated enough.

Parameters:

a

Angle (in degrees)

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();

    const unsigned char op  = OPCODE_WAIT_ANGLE;
    stream_ << op;
    sendInt16 (stream_, a);
    stream_.flush ();
  }

void iRobot::Create::sendWaitEventCommand	(	Event	e,
		EventState	es = EVENT_OCCURRING
	)			throw (CommandNotAvailable, InvalidArgument)

Make the robot wait for a specific event.

Parameters:

	e	Wait for this event.
	es	Wait for this event state.

  {
    if (currentMode_ < IROBOT_CREATE_PASSIVE)
      throw CommandNotAvailable ();
    if (event < EVENT_WHEEL_DROP || event > EVENT_OI_MODE_PASSIVE)
      throw InvalidArgument ();
    if (state < EVENT_OCCURRING || state > EVENT_NOT_OCCURRING)
      throw InvalidArgument ();

    const unsigned char op  = OPCODE_WAIT_EVENT;
    const char e = (state == EVENT_OCCURRING) ? event : -event;
    stream_ << op << e;
    stream_.flush ();
  }

void iRobot::Create::updateSensors

(

)

Read the stream to update sensors values. This handles both streamed data and specific queries through querylist or sensors commands.

  {
    while (!!stream_.good () && !queriedSensors_.empty ())
      {
        if (!!stream_.good () && safePeek (stream_) == STREAM_HEADER)
          readStream ();
        if (!readSensorPacket ())
          if (stream_.rdbuf ()->in_avail () > 0)
            stream_.ignore ();
          else
            break;
      }

    while (!!stream_.good () && stream_.rdbuf ()->in_avail () > 0)
      {
        if (safePeek (stream_) == STREAM_HEADER)
          readStream ();
        else
          stream_.ignore ();
      }
  }

void iRobot::Create::readStream

(

)

Read streamed sensors and update sensors values.

  {
    if (!stream_.good ())
      return;
    if (safePeek (stream_) != STREAM_HEADER)
      return;

    // Ignore header.
    stream_.ignore ();

    std::stringstream ss;
    unsigned char checksum = STREAM_HEADER;
    unsigned char size = 0;

    stream_ >> size;
    checksum += size;
    for (unsigned i = 0; i < size; ++i)
      {
        unsigned char c;
        stream_ >> c;
        ss << c;
        checksum += c;
      }

    unsigned char sentChecksum = 0;
    stream_ >> sentChecksum;

    if (checksum + sentChecksum != 256)
      return;

    for (sensorPackets_t::const_iterator it = streamedSensors_.begin ();
         it != streamedSensors_.end (); ++it)
      {
        unsigned char packet = 0;
        ss >> packet;
        if (packet != *it)
          return;
        if (!readSensorPacket (*it, ss))
          return;
      }
  }

Create::Mode iRobot::Create::mode

(

)

throw ()

  {
    return currentMode_;
  }

bool iRobot::Create::wheeldropCaster

(

)

bool iRobot::Create::wheeldropLeft

(

)

bool iRobot::Create::wheeldropRight

(

)

bool iRobot::Create::bumpLeft

(

)

bool iRobot::Create::bumpRight

(

)

bool iRobot::Create::wall

(

)

Get wall sensor value.

bool iRobot::Create::cliffLeft

(

)

bool iRobot::Create::cliffFrontLeft

(

)

bool iRobot::Create::cliffFrontRight

(

)

bool iRobot::Create::cliffRight

(

)

bool iRobot::Create::deviceDetect

(

)

bool iRobot::Create::digitalInput3

(

)

bool iRobot::Create::digitalInput2

(

)

bool iRobot::Create::digitalInput1

(

)

bool iRobot::Create::digitalInput0

(

)

short iRobot::Create::analogSignal

(

)

bool iRobot::Create::homeBaseChargerAvailable

(

)

bool iRobot::Create::internalChargerAvailable

(

)

bool iRobot::Create::virtualWall

(

)

bool iRobot::Create::leftWheelOvercurrent

(

)

bool iRobot::Create::rightWheelOvercurrent

(

)

bool iRobot::Create::ld2Overcurrent

(

)

bool iRobot::Create::ld1Overcurrent

(

)

bool iRobot::Create::ld0Overcurrent

(

)

unsigned char iRobot::Create::ir

(

)

bool iRobot::Create::advanceButton

(

)

bool iRobot::Create::playButton

(

)

short iRobot::Create::distance

(

)

short iRobot::Create::angle

(

)

ChargingState iRobot::Create::chargingState

(

)

short iRobot::Create::batteryVoltage

(

)

short iRobot::Create::batteryCurrent

(

)

short iRobot::Create::batteryTemperature

(

)

short iRobot::Create::batteryCharge

(

)

short iRobot::Create::batteryCapacity

(

)

short iRobot::Create::wallSignal

(

)

short iRobot::Create::cliffLeftSignal

(

)

short iRobot::Create::cliffFrontLeftSignal

(

)

short iRobot::Create::cliffFrontRightSignal

(

)

short iRobot::Create::cliffRightSignal

(

)

unsigned char iRobot::Create::songNumber

(

)

bool iRobot::Create::songPlaying

(

)

unsigned char iRobot::Create::streamPackets

(

)

short iRobot::Create::requestedVelocity

(

)

short iRobot::Create::requestedRadius

(

)

short iRobot::Create::requestedLeftVelocity

(

)

short iRobot::Create::requestedRightVelocity

(

)

bool iRobot::Create::readSensorPacket

(

)

[protected]

Read a specific sensor packet and update sensors values. The next expected sensor packet will be read.

  {
    if (!!queriedSensors_.empty ())
      return false;
    if (!!readSensorPacket (queriedSensors_.front (), stream_))
      {
        queriedSensors_.pop ();
        return true;
      }
    return false;
  }

bool iRobot::Create::readSensorPacket	(	SensorPacket	sensor,
		std::istream &	stream
	)			[protected]

Read sensor packet on a specified stream, update sensor values.

  {
    if (!stream.good ())
      return false;
    if (safePeek (stream) == STREAM_HEADER)
      return false;

    switch (sensor)
      {
        GROUP_SENSOR(SENSOR_GROUP_0, 7, 26);
        GROUP_SENSOR(SENSOR_GROUP_1, 7, 16);
        GROUP_SENSOR(SENSOR_GROUP_2, 17, 20);
        GROUP_SENSOR(SENSOR_GROUP_3, 21, 26);
        GROUP_SENSOR(SENSOR_GROUP_4, 27, 34);
        GROUP_SENSOR(SENSOR_GROUP_5, 35, 42);
        GROUP_SENSOR(SENSOR_GROUP_6, 7, 42);

      case SENSOR_BUMPS_WHEELS_DROPS:
        {
          std::bitset<8> v = 0;
          unsigned char tmp = 0;
          if (!safeGet (stream, tmp))
            return false;
          v = tmp;
          wheeldropCaster_ = v.test (SENSOR_BIT_WHEELDROP_CASTER);
          wheeldropLeft_ = v.test (SENSOR_BIT_WHEELDROP_LEFT);
          wheeldropRight_ = v.test (SENSOR_BIT_WHEELDROP_RIGHT);
          bumpLeft_ = v.test (SENSOR_BIT_BUMP_LEFT);
          bumpRight_ = v.test (SENSOR_BIT_BUMP_RIGHT);
          break;
        }

        UCHAR_SENSOR (SENSOR_WALL, wall_);
        UCHAR_SENSOR (SENSOR_CLIFF_LEFT, cliffLeft_);
        UCHAR_SENSOR (SENSOR_CLIFF_FRONT_LEFT, cliffFrontLeft_);
        UCHAR_SENSOR (SENSOR_CLIFF_FRONT_RIGHT, cliffFrontRight_);
        UCHAR_SENSOR (SENSOR_CLIFF_RIGHT, cliffRight_);
        UCHAR_SENSOR (SENSOR_VIRTUAL_WALL, virtualWall_);

      case SENSOR_OVERCURRENTS:
        {
          std::bitset<8> v = 0;
          unsigned char tmp = 0;
          if (!safeGet (stream, tmp))
            return false;
          v = tmp;
          leftWheelOvercurrent_ = v.test (SENSOR_BIT_LEFTWHEELOVERCURRENT);
          rightWheelOvercurrent_ = v.test (SENSOR_BIT_RIGHTWHEELOVERCURRENT);
          ld2Overcurrent_ = v.test (SENSOR_BIT_LD2OVERCURRENT);
          ld1Overcurrent_ = v.test (SENSOR_BIT_LD1OVERCURRENT);
          ld0Overcurrent_ = v.test (SENSOR_BIT_LD0OVERCURRENT);
          break;
        }

        // Unused.
      case 15:
      case 16:
        {
          unsigned char tmp = 0;
          if (!safeGet (stream, tmp))
            return false;
          break;
        }

        UCHAR_SENSOR (SENSOR_IR, ir_);

      case SENSOR_BUTTONS:
        {
          std::bitset<8> v = 0;
          unsigned char tmp = 0;
          if (!safeGet (stream, tmp))
            return false;
          v = tmp;
          advanceButton_ = v.test (SENSOR_BIT_ADVANCEBUTTON);
          playButton_ = v.test (SENSOR_BIT_PLAYBUTTON);
          break;
        }

        INT_SENSOR (SENSOR_DISTANCE, distance_);
        INT_SENSOR (SENSOR_ANGLE, angle_);

        GEN_SENSOR (SENSOR_CHARGING_STATE, chargingState_, ChargingState);

        INT_SENSOR (SENSOR_VOLTAGE, batteryVoltage_);
        INT_SENSOR (SENSOR_CURRENT, batteryCurrent_);
        CHAR_SENSOR (SENSOR_BATTERY_TEMPERATURE, batteryTemperature_);
        INT_SENSOR (SENSOR_BATTERY_CHARGE, batteryCharge_);
        INT_SENSOR (SENSOR_BATTERY_CAPACITY, batteryCapacity_);
        INT_SENSOR (SENSOR_WALL_SIGNAL, wallSignal_);
        INT_SENSOR (SENSOR_CLIFF_LEFT_SIGNAL, cliffLeftSignal_);
        INT_SENSOR (SENSOR_CLIFF_FRONT_LEFT_SIGNAL, cliffFrontLeftSignal_);
        INT_SENSOR (SENSOR_CLIFF_FRONT_RIGHT_SIGNAL, cliffFrontRightSignal_);
        INT_SENSOR (SENSOR_CLIFF_RIGHT_SIGNAL, cliffRightSignal_);

      case SENSOR_CARGO_BAY_DIGITAL_INPUT:
        {
          std::bitset<8> v = 0;
          unsigned char tmp = 0;
          if (!safeGet (stream, tmp))
            return false;
          v = tmp;
          deviceDetect_ = v.test (SENSOR_BIT_DEVICEDETECT);
          digitalInput3_ = v.test (SENSOR_BIT_DIGITALINPUT3);
          digitalInput2_ = v.test (SENSOR_BIT_DIGITALINPUT2);
          digitalInput1_ = v.test (SENSOR_BIT_DIGITALINPUT1);
          digitalInput0_ = v.test (SENSOR_BIT_DIGITALINPUT0);
          break;
        }

        INT_SENSOR(SENSOR_CARGO_BAY_ANALOG_SIGNAL, analogSignal_);

      case SENSOR_CHARGING_SOURCES_AVAILABLE:
        {
          std::bitset<8> v = 0;
          unsigned char tmp = 0;
          if (!safeGet (stream, tmp))
            return false;
          v = tmp;
          homeBaseChargerAvailable_ =
            v.test (SENSOR_BIT_HOMEBASECHARGERAVAILABLE);
          internalChargerAvailable_ =
            v.test (SENSOR_BIT_INTERNALCHARGERAVAILABLE);
          break;
        }

        //FIXME: trigger a warning if not corresponding to current value?
        GEN_SENSOR (SENSOR_OI_MODE, currentMode_, Mode);

        UCHAR_SENSOR (SENSOR_SONG_NUMBER, songNumber_);
        UCHAR_SENSOR (SENSOR_SONG_PLAYING, songPlaying_);
        UCHAR_SENSOR (SENSOR_NUMBER_STREAM_PACKETS, streamPackets_);

        INT_SENSOR (SENSOR_REQUESTED_VELOCITY, requestedVelocity_);
        INT_SENSOR (SENSOR_REQUESTED_RADIUS, requestedRadius_);
        INT_SENSOR (SENSOR_REQUESTED_LEFT_VELOCITY, requestedLeftVelocity_);
        INT_SENSOR (SENSOR_REQUESTED_RIGHT_VELOCITY, requestedRightVelocity_);

      default:
        break;
      }
    return true;
  }

void iRobot::Create::sendBaudCommand

(

Baud

speed

)

throw (CommandNotAvailable, InvalidArgument)

Change the communication speed. After changing the communication speed, it is required to wait at least 100ms.

Parameters:

speed

New communication speed.

void iRobot::Create::sendStartCommand

(

)

Switch to passive mode. Automatically done when the class is instanciated.

void iRobot::Create::sendSafeCommand

(

)

throw (CommandNotAvailable)

Switch to safe mode.

void iRobot::Create::sendFullCommand

(

)

throw (CommandNotAvailable)

Switch to full mode.

void iRobot::Create::sendDemoCommand

(

Demo

demo

)

throw (CommandNotAvailable, InvalidArgument)

Run a built-in demo.

Parameters:

demo

Demo id.

void iRobot::Create::sendDriveCommand	(	short	v,
		short	r
	)			throw (CommandNotAvailable, InvalidArgument)

Drive the robot.

Parameters:

	v	Robot's velocity.
	r	Robot's turning radius.

See also:

sendDriveDirectCommand

void iRobot::Create::sendDriveCommand	(	short	v,
		DriveCommand	dc
	)			throw (CommandNotAvailable, InvalidArgument)

Drive the robot using a special drigin mode.

Parameters:

	v	Robot's velocity.
	dc	Special driving mode.

void iRobot::Create::sendDriveDirectCommand	(	short	vr,
		short	vl
	)			throw (CommandNotAvailable, InvalidArgument)

Drive the two wheels separately.

Parameters:

	vr	Right wheel's velocity.
	vl	Left wheel's velocity.

void iRobot::Create::sendLedCommand	(	Led	l,
		unsigned char	c,
		unsigned char	i
	)			throw (CommandNotAvailable, InvalidArgument)

Change led status.

Parameters:

	l	Switch on/off advance or play leds.
	c	Power led color.
	i	Power led light intensity.

void iRobot::Create::sendDigitalOutputsCommand	(	bool	d1,
		bool	d2,
		bool	d3
	)			throw (CommandNotAvailable)

Change the digital output values.

Parameters:

	d1	Switch on/off first digital output.
	d2	Switch on/off second digital output.
	d3	Switch on/off third digital output.

void iRobot::Create::sendPwmLowSideDriversCommand	(	unsigned char	lsd1,
		unsigned char	lsd2,
		unsigned char	lsd3
	)			throw (CommandNotAvailable, InvalidArgument)

Drive low side drivers with variable power.

Parameters:

	lsd1	Low side driver 1 power.
	lsd2	Low side driver 2 power.
	lsd3	Low side driver 3 power.

void iRobot::Create::sendLowSideDriversCommand	(	bool	lsd1,
		bool	lsd2,
		bool	lsd3
	)			throw (CommandNotAvailable)

Switch on/off low side drivers.

Parameters:

	lsd1	Switch on/off low side driver 1.
	lsd2	Switch on/off low side driver 2.
	lsd3	Switch on/off low side driver 3.

See also:

sendPwmLowSideDriversCommand

void iRobot::Create::sendIrCommand

(

unsigned char

v

)

throw (CommandNotAvailable)

Send an IR command on low side driver 1. The data will be encoded using the iRobot's Create receiver format.

Parameters:

v

Sent value.

void iRobot::Create::sendSongCommand	(	unsigned char	sid,
		const song_t &	song
	)			throw (CommandNotAvailable, InvalidArgument)

Define a song.

Parameters:

	sid	Song id.
	song	Song to send.

void iRobot::Create::sendPlaySongCommand

(

unsigned char

sid

)

throw (CommandNotAvailable, InvalidArgument)

Play a song.

Parameters:

sid

Sond id to play.

void iRobot::Create::sendSensorsCommand

(

SensorPacket

sp

)

throw (CommandNotAvailable, InvalidArgument)

Request the robot to send a particular sensor packet.

Parameters:

sp

Sensor packet to send.

void iRobot::Create::sendQueryListCommand

(

const sensorPackets_t &

lsp

)

throw (CommandNotAvailable, InvalidArgument)

Request the robot to send a list of sensor packets.

Parameters:

lsp

List of sensor packets to send

void iRobot::Create::sendStreamCommand

(

const sensorPackets_t &

lsp

)

throw (CommandNotAvailable, InvalidArgument)

Request the robot to start streaming some sensor packets. After the streaming is started, the requested values will be sent every 15ms.

Parameters:

lsp

List of sensor packets to stream.

void iRobot::Create::sendPauseStreamCommand

(

StreamState

st

)

throw (CommandNotAvailable, InvalidArgument)

Pause or resume sensor streaming.

Parameters:

st

Stream state to set.

void iRobot::Create::sendScriptCommand

(

const opcodes_t &

script

)

throw (CommandNotAvailable, InvalidArgument)

Send a script.

Parameters:

script

Script to send.

void iRobot::Create::sendPlayScriptCommand

(

)

throw (CommandNotAvailable)

Play the current stored script.

void iRobot::Create::sendShowScriptCommand

(

)

throw (CommandNotAvailable)

Show the stored script.

void iRobot::Create::sendWaitTimeCommand

(

unsigned char

t

)

throw (CommandNotAvailable)

Make the robot wait for a specific amount of time.

Parameters:

t

Time to wait in tenth of a second (resolution of 15 ms).

void iRobot::Create::sendWaitDistanceCommand

(

short

d

)

throw (CommandNotAvailable)

Make the robot wait until it travelled a certain distance.

Parameters:

d

Distance to travel

void iRobot::Create::sendWaitAngleCommand

(

short

a

)

throw (CommandNotAvailable)

Make the robot wait until it has rotated enough.

Parameters:

a

Angle (in degrees)

void iRobot::Create::sendWaitEventCommand	(	Event	e,
		EventState	es = EVENT_OCCURRING
	)			throw (CommandNotAvailable, InvalidArgument)

Make the robot wait for a specific event.

Parameters:

	e	Wait for this event.
	es	Wait for this event state.

void iRobot::Create::updateSensors

(

)

Read the stream to update sensors values. This handles both streamed data and specific queries through querylist or sensors commands.

void iRobot::Create::readStream

(

)

Read streamed sensors and update sensors values.

Mode iRobot::Create::mode

(

)

throw ()

bool iRobot::Create::wheeldropCaster

(

)

bool iRobot::Create::wheeldropLeft

(

)

bool iRobot::Create::wheeldropRight

(

)

bool iRobot::Create::bumpLeft

(

)

bool iRobot::Create::bumpRight

(

)

bool iRobot::Create::wall

(

)

Get wall sensor value.

bool iRobot::Create::cliffLeft

(

)

bool iRobot::Create::cliffFrontLeft

(

)

bool iRobot::Create::cliffFrontRight

(

)

bool iRobot::Create::cliffRight

(

)

bool iRobot::Create::deviceDetect

(

)

bool iRobot::Create::digitalInput3

(

)

bool iRobot::Create::digitalInput2

(

)

bool iRobot::Create::digitalInput1

(

)

bool iRobot::Create::digitalInput0

(

)

short iRobot::Create::analogSignal

(

)

bool iRobot::Create::homeBaseChargerAvailable

(

)

bool iRobot::Create::internalChargerAvailable

(

)

bool iRobot::Create::virtualWall

(

)

bool iRobot::Create::leftWheelOvercurrent

(

)

bool iRobot::Create::rightWheelOvercurrent

(

)

bool iRobot::Create::ld2Overcurrent

(

)

bool iRobot::Create::ld1Overcurrent

(

)

bool iRobot::Create::ld0Overcurrent

(

)

unsigned char iRobot::Create::ir

(

)

bool iRobot::Create::advanceButton

(

)

bool iRobot::Create::playButton

(

)

short iRobot::Create::distance

(

)

short iRobot::Create::angle

(

)

ChargingState iRobot::Create::chargingState

(

)

short iRobot::Create::batteryVoltage

(

)

short iRobot::Create::batteryCurrent

(

)

short iRobot::Create::batteryTemperature

(

)

short iRobot::Create::batteryCharge

(

)

short iRobot::Create::batteryCapacity

(

)

short iRobot::Create::wallSignal

(

)

short iRobot::Create::cliffLeftSignal

(

)

short iRobot::Create::cliffFrontLeftSignal

(

)

short iRobot::Create::cliffFrontRightSignal

(

)

short iRobot::Create::cliffRightSignal

(

)

unsigned char iRobot::Create::songNumber

(

)

bool iRobot::Create::songPlaying

(

)

unsigned char iRobot::Create::streamPackets

(

)

short iRobot::Create::requestedVelocity

(

)

short iRobot::Create::requestedRadius

(

)

short iRobot::Create::requestedLeftVelocity

(

)

short iRobot::Create::requestedRightVelocity

(

)

bool iRobot::Create::readSensorPacket

(

)

[protected]

Read a specific sensor packet and update sensors values. The next expected sensor packet will be read.

bool iRobot::Create::readSensorPacket	(	SensorPacket	,
		std::istream &
	)			[protected]

Read sensor packet on a specified stream, update sensor values.

---

Member Data Documentation

static const unsigned char iRobot::Create::LED_COLOR_GREEN = 0 [static]

Define the green color for power led.

static const unsigned char iRobot::Create::LED_COLOR_RED = 255 [static]

Define the red color for power led.

static const unsigned char iRobot::Create::LED_INTENSITY_OFF = 0 [static]

Define minimum intensity for power led (off).

static const unsigned char iRobot::Create::LED_INTENSITY_FULL = 255 [static]

Define full intensity for power led.

static const unsigned char iRobot::Create::LOW_SIDE_VELOCITY_MIN = 0 [static]

Define minimum velocity for low side drivers.

static const unsigned char iRobot::Create::LOW_SIDE_VELOCITY_MAX = 128 [static]

Define maximum velocity for low side drivers.

static const int iRobot::Create::VELOCITY_MIN = -500 [static]

Define minimum velocity for robot wheels motors.

static const int iRobot::Create::VELOCITY_MAX = 500 [static]

Define maximum velocity for robot wheels motors.

static const int iRobot::Create::RADIUS_MIN = -2000 [static]

Define minimum radius turn of the robot.

static const int iRobot::Create::RADIUS_MAX = 2000 [static]

Define maximum radius turn of the robot.

static const unsigned char iRobot::Create::SONG_MIN = 0 [static]

Define minimum song id.

static const unsigned char iRobot::Create::SONG_MAX = 15 [static]

Define maximum song id.

static const unsigned char iRobot::Create::SONG_MAX_SIZE = 16 [static]

Define song maximum size.

static const unsigned char iRobot::Create::NO_NOTE = 30 [static]

Define the value for a rest node (no sound).

static const unsigned char iRobot::Create::NOTE_MIN = 31 [static]

Define the minimum note (G).

static const unsigned char iRobot::Create::NOTE_MAX = 127 [static]

Define the maximum note (G).

static const unsigned char iRobot::Create::SCRIPT_MAX_SIZE = 100 [static]

Define maximum script size.

static const unsigned char iRobot::Create::STREAM_HEADER = 19 [static]

Stream header ``magic value''.

static const unsigned char iRobot::Create::SENSOR_BIT_WHEELDROP_CASTER = 4 [static]

Bit used to retrieve the wheeldrop caster status.

static const unsigned char iRobot::Create::SENSOR_BIT_WHEELDROP_LEFT = 3 [static]

Bit used to retrieve the wheeldrop caster status.

static const unsigned char iRobot::Create::SENSOR_BIT_WHEELDROP_RIGHT = 2 [static]

Bit used to retrieve the wheeldrop caster status.

static const unsigned char iRobot::Create::SENSOR_BIT_BUMP_LEFT = 1 [static]

Bit used to retrieve the bump left status.

static const unsigned char iRobot::Create::SENSOR_BIT_BUMP_RIGHT = 0 [static]

Bit used to retrieve the bump right status.

static const unsigned char iRobot::Create::SENSOR_BIT_LEFTWHEELOVERCURRENT = 4 [static]

Bit used to retrieve the left wheel overcurrent status.

static const unsigned char iRobot::Create::SENSOR_BIT_RIGHTWHEELOVERCURRENT = 3 [static]

Bit used to retrieve the right wheel overcurrent status.

static const unsigned char iRobot::Create::SENSOR_BIT_LD2OVERCURRENT = 2 [static]

Bit used to retrieve the LD2 overcurrent status.

static const unsigned char iRobot::Create::SENSOR_BIT_LD1OVERCURRENT = 1 [static]

Bit used to retrieve the LD1 overcurrent status.

static const unsigned char iRobot::Create::SENSOR_BIT_LD0OVERCURRENT = 0 [static]

Bit used to retrieve the LD0 overcurrent status.

static const unsigned char iRobot::Create::SENSOR_BIT_ADVANCEBUTTON = 2 [static]

Bit used to retrieve the advance button status.

static const unsigned char iRobot::Create::SENSOR_BIT_PLAYBUTTON = 0 [static]

Bit used to retrieve the play button status.

static const unsigned char iRobot::Create::SENSOR_BIT_DEVICEDETECT = 4 [static]

Bit used to retrieve the device detect pin status.

static const unsigned char iRobot::Create::SENSOR_BIT_DIGITALINPUT3 = 3 [static]

Bit used to retrieve the digital input 3 pin status.

static const unsigned char iRobot::Create::SENSOR_BIT_DIGITALINPUT2 = 2 [static]

Bit used to retrieve the digital input 2 pin status.

static const unsigned char iRobot::Create::SENSOR_BIT_DIGITALINPUT1 = 1 [static]

Bit used to retrieve the digital input 1 pin status.

static const unsigned char iRobot::Create::SENSOR_BIT_DIGITALINPUT0 = 0 [static]

Bit used to retrieve the digital input 0 pin status.

static const unsigned char iRobot::Create::SENSOR_BIT_HOMEBASECHARGERAVAILABLE = 1 [static]

Bit used to retrieve whether the home base charger is available or not.

static const unsigned char iRobot::Create::SENSOR_BIT_INTERNALCHARGERAVAILABLE = 0 [static]

Bit used to retrieve whether the internal charger is available or not.

---

The documentation for this class was generated from the following files:

• /home/thomas/projects/usc/libirobot-create/_build/libirobot-create-0.1/src/irobot-create.hh
• /home/thomas/projects/usc/libirobot-create/src/irobot-create.hh
• /home/thomas/projects/usc/libirobot-create/_build/libirobot-create-0.1/src/irobot-create.cc
• /home/thomas/projects/usc/libirobot-create/src/irobot-create.cc

---