User manual IROBOT CREATE

[. . . ] iRobot Create ® Owner's guide SAVE 15% on accessories. See back for details. www. irobot. com Important Safety Instructions generAL sAFeTY insTruCTiOns · · · · · Read all safety and operating instructions before operating iRobot Create. Heed all warnings on iRobot Create, battery, charger and in owner's manual. Refer all non-routine servicing to iRobot. Create use resTriCTiOns · Roomba is for indoor use only. Small children and pets should be supervised when iRobot Create is on. [. . . ] use Alkaline batteries or irobot rechargeable Batteries only. Color of Power Light Slow Pulsing Orange Fast Pulsing Orange Green Amber Red Flashing Red Battery status Charging (iRobot rechargeable battery only) Reconditioning Charge (iRobot rechargeable battery only) Fully Charged Partially Discharged Almost Fully Discharged Fully Discharged iRobot Create Owner's Guide Alkaline Battery Pack The included alkaline battery pack requires 12 non-rechargeable "AA" batteries to power iRobot Create. iRobot Create's low-voltage shutoff is designed for alkaline batteries only; rechargeable batteries can be deeply discharged and damaged if they are used in the alkaline battery pack. iRobot Create does not attempt to charge batteries in the alkaline battery pack. Alkaline batteries will power the robot (on a hard floor with no payloads or attachments) for up to 1. 5 hours if the robot is constantly moving. If you plan to have your robot moving continuously, iRobot recommends that you purchase a rechargeable battery pack at www. irobot. com. using the Alkaline Battery Pack Use a Phillips head screwdriver to loosen the four screws on the underside of the green Alkaline Battery Pack. Inser t six non-rechargeable alkaline "AA" batteries into each side of the battery case and then slide the doors back on. Insert the battery case into iRobot Create's Battery Well, pushing until it clicks into place. note: The Alkaline Battery Pack is not recommended for use in iRobot Roomba®. www. irobot. com Cargo Bay Connector The cargo bay connector, located in the front middle of the cargo bay contains 25 labeled pins that you can use to attach electronics and other peripheral devices such as additional sensors, lights, or motors to iRobot Create. The cargo bay connector provides four digital inputs, an analog input, three digital outputs, three low-side driver outputs (useful for driving motors), a charging indicator, a power toggle, serial Tx and Rx, a 5V reference, battery ground and battery voltage. Cargo Bay Connector Pin descriptions Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 name RXD TXD Power control toggle Analog input Digital input 1 Digital input 3 Digital output 1 Switched 5V Vpwr Switched Vpwr Switched Vpwr Switched Vpwr Robot charging GND BRC GND Digital input 0 Digital input 2 Digital output 0 Digital output 2 GND Low side driver 0 Low side driver 1 Low side driver 2 GND description 0 ­ 5V Serial input to iRobot Create 0 ­ 5V Serial output from iRobot Create Turns iRobot Create on or off on a low-to-high transition 0 - 5V analog input to iRobot Create 0 - 5V digital input to iRobot Create 0 - 5V digital input to iRobot Create 0 - 5V, 20 mA digital output from iRobot Create Provides a regulated 5V 100 mA supply and analog reference voltage when iRobot Create is switched on iRobot Create battery voltage (unregulated), 0. 5A Provides battery power @ 1. 5 A when iRobot Create is powered on. Send these two command sets separately: 128 131 137 0 100 128 0 You can also write scripts of commands, freeing your robot from the serial cable tether. A script is a sequence of commands including commands that wait for events. With a script you can make the robot perform a "song-anddance" routine that you create. For more information on scripts, see the section Creating a Script for iRobot Create found on page 13. To make the robot perform more complex behaviors, you can write software that runs on the PC and sends commands to the robot while reading its sensor data. Your software can communicate with iRobot Create over the included serial cable or a wireless serial accessory (not included). For more information on the Open Interface commands, see the iRobot® Create Open Interface (OI) Specification at www. irobot. com/create. sending Oi Commands from a Microprocessor With a microprocessor like iRobot's Command Module attached to your robot, you can make it perform complex behaviors without a serial tether or wireless connection to a PC. With the iRobot Command Module, which plugs into iRobot Create's Cargo Bay Connector, you can write your own programs in C or C++, that send OI commands to iRobot Create and read its sensor data. You can also expand on the sensors and actuators that iRobot Create offers by adding your own custom hardware to the iRobot Command Module's four DB-9 expansion ports. 1 iRobot Create Owner's Guide Creating a Script for iRobot Create iRobot Create's Open Interface (OI) supports a simple scripting language. A script consists of a sequence of commands, including drive commands and commands that wait for an event such as a button press, elapsed time, or sensor trigger. These commands are documented in detail in the iRobot® Create Open Interface (OI) Specification. Scripts are stored in iRobot Create's RAM, which is cleared when the robot loses power. using the script Command To load a script onto iRobot Create, use the Script command (152), followed by the number of bytes in the script, followed by the series of commands and their arguments. Scripts can be up to 100 bytes long. example: Drive in a square: 152 17 137 1 44 128 0 156 1 144 137 1 44 0 1 157 0 90 153 The meaning of the above string of numbers is: Commands and Arguments Script Number of bytes Drive 300 mm/s Straight Wait for Distance 400 mm Drive 300 mm/s Spinning counterclockwise Wait for Angle 90 degrees Restart Script Values 152 17 137 1 128 156 1 137 1 0 157 0 153 90 44 1 144 44 0 using the Play script Command When you are ready for iRobot Create to perform the script, send the Play Script command (153). [. . . ] For more detail, download the iRobot Command Module Owner's Manual at www. irobot. com/create. You can purchase the iRobot Command Module at www. irobot. com. irobot rechargeable Battery Options iRobot Create is compatible with all iRobot Roomba® rechargeable batteries. If you own a Roomba you can use its battery and charger to power your iRobot Create. If you do not have a Roomba battery you can purchase one of these optional rechargeable battery packs: · irobot Create rechargeable Battery kit. [. . . ]