The Roomba! It drives!

As promised, the code has been pushed to Github for my RoombaBot.

RoombaDrive v2 from Mark Walling on Vimeo.

Get the code here if you want to hack on it. The current to do list is:

• Make RoombaInterface.spin() accept a degree input, and not time
• Use the light touch sensor to pre-calculate how much to deflect for obstacle avoidance. I’m not trying to vacuum, we’re just trying to keep from crashing.
• Implement my own docking seek, since using the dock opcode starts the vacuum motors (and makes lots of noise)
• Look for VWall detection on the omni IR receiver, not using packet 13 (seems to be fired at other times, not just for a virtual wall, but this could just be my own fail).

Posted 09 Aug 2009