A Python implementation of the iRobot Open Interface.
- 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
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))
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()
>>> 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]
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.
- Initial release
- Bugfix: Improperly set baud rate on serial connection preventing the library from working under Linux.
- Bugfix: Wrong op code for seek_dock
- Bugfix: Use of Python 2.7 incompatible version of super()
- 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
- 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.
- 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.
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.