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hgignore hgignore readme rst readme rst setup cfg setup cfg setup py setup py view all files repository files navigation readme more items irobot a python implementation of the irobot open interface main features provides a low level interface for building open interface commands to send over a serial connection provides a low level set of response parsers to read data returned from robots provides a high level object oriented interface for the create2 provides a repl to interactively control a create2 robot over a serial connection code examples low level interface from irobot openinterface commands import set_mode_full request_sensor_data or other commands from irobot openinterface constants import response_sizes from irobot openinterface response_parsers import unsigned_byte_response open a serial connection assumed to be serial here change mode serial write set_mode_full read oi mode serial write request_sensor_data 35 unsigned_byte_response serial read response_sizes 35 high level object oriented interface for the create2 from irobot robots create2 import create2 from irobot openinterface constants import modes instantiate robot robot create2 port read sensor print robot left_encoder_counts change mode to drive safe full robot oi_mode modes safe robot drive_straight 50 stop driving robot drive_straight 0 return to passive mode robot oi_mode modes passive shutdown oi robot stop repl launch console_interfaces create2 this should be callable as create2 from the command line after installation in the repl the robot is bound to the robot variable issue python commands as you see fit to see what data is being sent received enable logging enable_logging to turn off disable_logging example enable_logging robot sensor_group0 info last command sent 19 53 seconds ago sending command decimal 142 0 hex 8e 0 bin 10001110 00000000 info received decimal 3 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 2 67 20 4 101 38 10 136 10 136 hex 3 0 1 1 1 1 0 0 0 0 0 0 0 0 0 0 2 43 14 4 65 26 a 88 a 88 bin 00000011 00000000 00000001 00000001 00000001 00000001 00000000 10001000 00001010 10001000 api reference the commands and response parsers in openinterface provide all the primitives needed to issue and retrieve the response for any command in the roomba open interface spec openinterface commands low level support for packing data to send over a serial connection pack_op_code pack_signed_byte pack_unsigned_byte pack_2unsigned_bytes pack_3signed_bytes pack_3unsigned_bytes pack_4unsigned_bytes pack_schedule pack_drive pack_drive_special_cases functions for building data packets for each command start reset stop set_baud set_mode_passive set_mode_safe set_mode_full clean clean_max clean_spot seek_dock power_down get_days set_schedule set_day_time drive drive_direct drive_pwm set_motors set_motors_pwm set_leds set_scheduling_leds set_raw_leds trigger_buttons set_ascii_leds set_song play_song request_sensor_data openinterface response_parsers low level support for unpacking data received over a serial connection binary_response packed_binary_response byte_response unsigned_byte_response short_response unsigned_short_response classes to extract composite responses packedbinarydata ex bumpsandwheeldrop bumpsandwheeldrop bump_right wheelovercurrents bump_left buttons wheel_drop_right chargingsources wheel_drop_left lightbumper stasis sensorgroup0 sensorgroup1 sensorgroup2 sensorgroup3 sensorgroup4 sensorgroup5 sensorgroup6 sensorgroup100 sensorgroup101 sensorgroup106 sensorgroup107 openinterface constants named value used in the spec used as parameters to functions and range checking baud_rate days drive motors leds weekday_leds scheduling_leds raw_led buttons robot modes wheel_overcurrent bumps_wheel_drops charge_source light_bumper stasis power_save_time response_sizes the class create2 in robots create2 is built upon the primitives in openinterface and provides niceties like management of the serial connection all sensors are exposed as properties of the create2 class while actions are implemented as methods robots create2 methods wake start reset stop set_baud clean clean_max clean_spot seek_dock power_down set_schedule clear_schedule set_day_time drive drive_straight spin_left spin_right drive_direct drive_pwm set_motors set_motors_pwm set_leds set_scheduling_leds set_raw_leds set_ascii_leds trigger_buttons set_song play_song properties enable_quirks auto_wake bumps_and_wheel_drops wall_sensor cliff_left cliff_front_left cliff_front_right cliff_right virtual_wall wheel_overcurrents dirt_detect ir_char_omni ir_char_left ir_char_right buttons distance angle charging_state voltage current temperature battery_charge battery_capacity wall_signal cliff_left_signal cliff_front_left_signal cliff_front_right_signal cliff_right_signal charging_sources oi_mode song_number is_song_playing number_stream_packets requested_velocity requested_radius requested_right_velocity requested_left_velocity left_encoder_counts right_encoder_counts light_bumper light_bump_left_signal light_bump_front_left_signal light_bump_center_left_signal light_bump_center_right_signal light_bump_front_right_signal light_bump_right_signal left_motor_current right_motor_current main_brush_motor_current side_brush_motor_current stasis sensor_group0 sensor_group1 sensor_group2 sensor_group3 sensor_group4 sensor_group5 sensor_group6 sensor_group100 sensor_group101 sensor_group106 sensor_group107 firmware_version the create2 class also provides the following features not explicitly provided in the spec auto_wake the open interface goes to sleep after 5 minutes of inactivity when in passive mode with this property set to true the create2 object will track idle time when in passive mode and automatically wake the robot when a command is issued if necessary enabled by default in the constructor wake maybe be called any time with wake enable_quirks roomba 500 600 firmware versions prior to 3 3 0 return an incorrect value for distance and angle with this property set to true the properties distance and angle will use the encoder counts to determine the correct value this only works for the distance and angle properties distance and angle in the sensor groups will still report the wrong value firmware_version a property of the create2 class that gets the welcome message in order to determine the firmware version reading this property will reset the robot and will take approximately 5 seconds to complete to see this used to automatically determine if enable_quirks should be set please see check_for_quirks in console_interfaces create2 please see the irobot roomba open interface spec for a listing of all commands and their purposes changelog irobot 1 0 0b1 initial release irobot 1 0 0b2 bugfix improperly set baud rate on serial connection preventing the library from working under linux irobot 1 0 0b3 bugfix wrong op code for seek_dock bugfix use of python 2 7 incompatible version of super installation this is beta software it has been tested under pyhon 2 7 and 3 x under windows 8 and python 3 x under debain gnu linux 8 jessie 64 bit download the package irobot 1 0 0b3 tar gz install with pip pip install path to file linux notes in order to use the create cable on dev ttyusb0 i had to remove modemmanager apparently is takes possession of dev ttyusb0 add myself to dialout with sudo adduser username dialout tests unit tests for verifying some of the command builders may be found in tests commands_test a test script to connect to a create2 over a serial connection and exercise all read commands maybe found in tests create2_test known issues notes issues set_raw_leds does not presently behave as detailed in the spec the issue has been reported to the manufacturer the orange and green wires are swapped on the official create cables preventing the robot form waking you will need to create your own cable in order to use the auto_wake feature notes the arguments to set_raw_leds are integers that should be composed by oring the segments you wish to turn on example set_raw_leds raw_led a raw_led b raw_led c to turn on segments a b and c of the first display the notes argument to set_song is a list of tuples where each tuple is a note and a duration eample set_song 0 57 32 59 32 60 32 to create a song as song0 consisting of the notes a b and c played for 5 seconds each author matthew witherwax lemoneer license mit license copyright c 2016 matthew witherwax permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the software to deal in the software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell copies of the software and to permit persons to whom the software is furnished to do so subject to the following conditions the above copyright notice and this permission notice shall be included in all copies or substantial portions of the software the software is provided as is without warranty of any kind express or implied including but not limited to the warranties of merchantability fitness for a particular purpose and noninfringement in no event shall the authors or copyright holders be liable for any claim damages or other liability whether in an action of contract tort or otherwise arising from out of or in connection with the software or the use or other dealings in the software about a python implementation of the irobot open interface domoticproject com roomberry surveillance robot roomba raspberry pi zero w camera topics python roomba irobot create2 roomba700 roomba600 roomba800 resources readme uh oh there was an error while loading please reload this page activity stars 21 stars watchers 1 watching forks 7 forks report repository releases 1 initial release latest aug 9 2018 packages 0 uh oh there was an error while loading please reload this page contributors uh oh there was an error while loading please reload this page languages python 100 0 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