Technical Support Discussion

iRobo Create Power ON Issue

Vasu — Wed, 08 Sep 2010 15:19:45 GMT

Hello,

I have been using iRobo create for a Robot purpose for past 2 years. Recently from past one month the iRobo create started behaving erratically. When I switch it on it goes on some times but every time. I tried using all the 3 buttons simultaneously but still the result is inconsistent. I also tried removing battery & placing it back.

The charge indicates "Constant Green" when put it for charging. However, when I remove the charger, the iRobot doesn't switch on.

-- Vasu

How to extract the real velocity values of the right and left wheels?

xinwei — Tue, 07 Sep 2010 20:46:33 GMT

Hi, everybody, this is the situation:

If we give two values to the wheels, for instance, right wheel= 3m/s, left wheel=5m/s . However, in practice, the velocity could have some deviations because of the friction and so on.

so I want to know the real velocity of the two wheels,

PS: if there are some controllers inside to control the velocity, then the real velocity is the given one;

but i do not whether there are controllers inside. In case there are no this kind of controllers, then the real velocity is not the given one, but I can not extract the real velocity.

So does any body have some ideals?

Any help would be appreciated.

Trouble reading from sensors

Burmanator — Mon, 30 Aug 2010 15:59:28 GMT

I've been trying to write a basic program for my create. I can tell it to drive around just fine but when I try and read from the sensors it starts messing up.

The problem I am having is that when I use the sensors command (op code 142) it inconsistently acts up. Some times it runs just fine, spits back my sensor information and waits for me to continue. Other times it will spit back the sensor information and essentially restart the create. Other times it will cause the create to start driving around (some times it will spit back the sensor information before doing this) and other times it does nothing other then cause the 3 LEDs to blink sequentially. I've been trying data bytes 0, 1 and 6, I haven't tried the others but I can only assume it results in the same.

Originally I started out using the roombacomm API but since it wasn't originally written to work with the create I thought this might be the problem so I switched over to using RealTerm and I am still having the problem.

Any help is greatly appreciated.

Ping))) Parallax Sensor - C module wanted

gjames — Thu, 19 Aug 2010 13:24:03 GMT

Hello, I have a ICreate and i have equiped it with the Parallax Ping))) sensor and servo. I have got the servo to move the way i want it and am now looking at programming the sensor.

Does anyone have a module already created and tested for the sensor?

any help would appreciated.

All my love

gjames wb. x

Power button on Create not working. How do I get this worked on under Warranty or elsewhere?

Scott — Wed, 18 Aug 2010 22:25:23 GMT

Power button on Create not working. How do I get this worked on under Warranty or elsewhere?

Any assistance would be greatly appreciated.

-Scott

iRobot create programing error 1 in Windows 7

artbot345 — Sat, 14 Aug 2010 22:16:09 GMT

This is the Output windows text:

> "make.exe" program

avrdude -p atmega168 -P com54 -c stk500 -U flash:w:input.hex

avrdude: ser_open(): can't open device "\\.\com54": Access is denied.

make.exe: *** [program] Error 1

> Process Exit Code: 2

> Time Taken: 00:00

Connectivity, Bluetooth, Dongle, BAM Issues

jDogg — Fri, 23 Jul 2010 17:15:12 GMT

I am repeatedly getting this message in Matlab everytime I try to communicate commands in through a bluetooth signal. I use the bluesoleil radio and BAM advertised on this site. (These are all commands by the way that I've gotten to work with a serial cable) Does anyone know what the root problem of this is? Thanks in advance.

java.io.IOException: No error in nativeDrain

at gnu.io.RXTXPort.nativeDrain(Native Method)

at gnu.io.RXTXPort$SerialOutputStream.flush(RXTXPort.java:1209)

at com.mathworks.toolbox.instrument.SerialComm.writeBinaryToHardware(SerialComm.java:790)

at com.mathworks.toolbox.instrument.InstrumentWriter.writeBinarySync(InstrumentWriter.java:628)

at com.mathworks.toolbox.instrument.InstrumentWriter.writeBinary(InstrumentWriter.java:587)

at com.mathworks.toolbox.instrument.InstrumentWriter.fwrite(InstrumentWriter.java:311)

P.S.

I think that I have a connection between the usb/bluetooth adapter and the BAM but for whatever reason, the commands in Matlab do not reliably go through to the create. And when the commands do go through they only go through for a short amount of time. This prevents me from controlling the create for long durations (i.e. over 30 seconds) of time.

Control Create in Matlab - Good for Beginners

jDogg — Fri, 23 Jul 2010 16:14:47 GMT

Introduction:

This is a Matlab toolbox full of high-level wrapper functions (put together by Joel Esposito and some other people at the Naval Academy) designed specifically to control the iRobot Create. I have used these Matlab commands to control the Create through a serial cable (which comes with the Create) from a regular PC. I hope you find it beneficial.

Directions:

Get instructions for what the functions do and how to use them under the link entitled "MTIC Documentation."

Get the functions under the link entitled "MTIC Files."

http://www.usna.edu/Users/weapsys/esposito/roomba.matlab/#download

PS Here is sample code for a Proportional Derivative (PD) Controller that a friend of mine wrote to make the Create follow a black line on a white surface. It uses the front cliff sensors to follow the line.

PD Controller Matlab Code:

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% ProportionalDerivative Controller

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%Initializing the Create

[roombaSerialObject] = RoombaInit(1)

%Setting Things Up

desired_value=30;

kp=.008;

kd=.0007;

vel=.15;

%Running the Program

for i=2:500

pause(.007);

%Getting the Sensor Values

[left_front]=CliffFrontLeftSignalStrengthRoomba(roombaSerialObject);

[right_front]=CliffFrontRightSignalStrengthRoomba(roombaSerialObject);

%Setting the Initial Errors to Zero

left_err(1)=0;

right_err(1)=0;

%Computing the Error Values

left_err(i)=desired_value-left_front;

right_err(i)=desired_value-right_front;

%Computing the Derivative Error Values

left_err_der=left_err(i)-left_err(i-1);

right_err_der=right_err(i)-right_err(i-1);

%Getting the Actuation Values

act_left=kp*left_err(i)+kd*left_err_der;

act_right=kp*right_err(i)+kd*right_err_der;

%Adjusting the Wheels Speeds

SetDriveWheelsCreate(roombaSerialObject,vel-act_right+act_left,vel-

act_left+act_right);

end

%Stopping the Create

SetDriveWheelsCreate(roombaSerialObject,0,0);

timeout error on the command module

ro16102003 — Fri, 23 Jul 2010 01:06:07 GMT

I am getting an error in the WinAVR IDE while downloading the program

avrdude -p atmega168 -P com9 -c stk500 -U flash:w:input.hex
avrdude: stk500_2_ReceiveMessage(): timeout

is there something wrong with my makefile

iRobot Create Not Switching on.

Curious — Tue, 20 Jul 2010 12:23:23 GMT

Hi, I am using a battery case with fresh/new 12 AA Alkaline batteries.

iRobot Create is not switching on when I press the power-on button.

Pls. let me know what could be the issue.

Thanks.

Question about OI (Open Interface)

mtebele — Sun, 18 Jul 2010 19:44:04 GMT

I want my iRobot to drive for X meters, and while it is driving if a bumper is touched I want it to react (e.g. turning 90°). How could I write it with the OI?

Because if I use the Wait Mode, the iRobot won't move.

Thanks in advance,

Matt.

Using TIMER1 with PWM for Servo - Assistance Needed

zmanwv — Fri, 16 Jul 2010 14:23:12 GMT

Hello,

Long time reader, first time poster. I am trying to get PWM working on timer1 of the CREATE. I have timer0 successfully being used to generate 1ms (0.8ms actual) interrupts to handle sensor polling and other activities. However, I can't get my timer1/PWM working. My servo (which is good) only hums when hooked up. Any suggestions on what I'm doing wrong?

I know there are a lot of ways to implement PWM- I'm willing to try a different timer mode if someone could provide some assistance.

Thanks!

// Setup the PWM
// ===============================
// F_PWM = F_CLOCK / (2 x N x TOP)
// 50 * (2 * N * TOP) = 18432000
// TOP = 18432000 / (2 * N * 50), @ N = 8
// TOP = 23,040 to provide a 50Hz signal
ICR1 = 23040;
TCNT1 = 0;

//Set up phase and freq select mode for pwm
TCCR1A= (1 << COM1A1) | //Compare Match Output A Mode, clear OC1A on compare
            (1 << COM1A0) | //Compare Match Output A Mode
            (0 << COM1B1) | //Compare Match Output B Mode - not used
            (0 << COM1B0) | //Compare Match Output B Mode
            (0 << WGM11) | //
            (0 << WGM10);   //Waveform Generation Mode

//Configuration Timer Counter Control Register B:
TCCR1B= (1 << WGM13) | //Waveform Generation Mode - phase correct
            (0 << WGM12) |
            (0 << CS12) | //Clock Select prescaler of 8 chosen
            (1 << CS11) | //Clock Select prescaler of 8 chosen
            (0 << CS10) ; //Clock Select prescaler of 8 chosen

//Set OC1A PIN as output. It is PB1
DDRB|=(1 << PB1);

Then to test the servo I do this:

for(OCR1A=750;OCR1A<2500;OCR1A++)
{
delayMs(2);
}

Position of iRobot Create

AlanRosenthal — Tue, 13 Jul 2010 19:14:44 GMT

I need to accurately get the position of the iRobot Create. Currently I am using the angle and distance packet data to determine its location. I have found this to be unreliable since sometimes the wheels slip, causing it to throw off its location.

Does anyone have an accurate way of determining the iRobot Create's relative position?

WebCam with OI

mtebele — Mon, 12 Jul 2010 20:52:44 GMT

Hi!

Is there any way to use stream images from a web camera connected to a laptop using the OI (Open Interface)??? (the laptop is connected to the iRobot by serial port)

Because if not, I have to develop in VPL and I really don't want it. I've already developed all the algorithm in IO (drive, stop, sensors, etc), and I want to know if it is possible to include the streaming of images from a webcam for motion detection.

Thanks!

Serial communication between iPAQ and iRobot via Bluetooth(BAM) ?

Sung — Fri, 09 Jul 2010 19:28:18 GMT

Hi,

I am trying to use an iPAQ to communicate with an iRobot via Bluetooth (BAM).

Here is what I was able to do so far:

C program (which I modified HungryTom's and compiled from Visual Studio) sends the commands to iRobot from my laptop via Bluetooth, which will use serial communication. It connects through COM8 and works good. I tested with both the serial cable and BAM with success.

Now that I want to use my PDA(HP iPAQ) instead of my laptop to send commands to the iRobot. I created a new project from Visual Studio for Windows Mobile(SDK were installed) and deployed the solution on the iPAQ (iPAQ is running on the Windows Mobile 6). I ran the deployed program from command prompt on the iPAQ. The result is "Failed to open port", which is generated by handler having "INVALID_HANDLE_VALUE".On the Bluetooth configuration, it says incoming port is COM4 and outgoing is COM5. I tested with COM0-COM9 but the results are the same.

Does anyone know how to resolve this issue?

Or should I use completely different set of APIs for iPAQ?

Thanks in advance for any help.

The following is the part of the code:

#include <windows.h>
#include <commctrl.h>

int main()

{
HANDLE h;
char comport;
int pass = 0;

for (int aa=0; aa<9; aa++)
{
    comport = aa+48;
    h = CreateFile(TEXT("COM"+comport),
    GENERIC_READ|GENERIC_WRITE,
    0,NULL,
    OPEN_EXISTING,0,NULL);

    if(! (h == INVALID_HANDLE_VALUE)) { pass =1; break; }
    else printf("Failed to open port COM%c \n",comport);
}

Message Edited by Sung on 07-09-2010 03:29 PM

Message Edited by Sung on 07-09-2010 03:30 PM

Message Edited by Sung on 07-09-2010 03:32 PM

Message Edited by Sung on 07-12-2010 01:45 PM

User can send commands but cannot read sensor data

Lisa — Thu, 01 Jul 2010 17:50:25 GMT

As mentioned in previous posts, I have created a LabVIEW VI that allows me to control a Create through a Bluetooth connection. Writing commands to the Create works just fine - I am able to drive, stop, request sensor data, etc. However, actually reading sensor data from the Create has proven to be more of an issue.

I have the code set up such that it requests sensor data from the Create, waits for 50ms, determines how many bytes are at the port, and then reads the bytes from that port. I tested this over a wired connection, and it worked just fine, showing 1 or 2 bytes at port depending on what sensor data I requested. Over the Bluetooth connection, however, it showed that there were 0 bytes at the port each time.

What might be causing this behavior?

Message Edited by Lisa on 07-01-2010 10:51 AM

Message Edited by Lisa on 07-01-2010 10:54 AM

Angle Data

AlanRosenthal — Mon, 28 Jun 2010 14:30:34 GMT

Hi,

I am using Packet Data 19 and 20 (Distance and Angle) to calculate the relative location (x y position) of the robot. It says on page 24 of the "iRobot Create Open Interface" that the angle is in units "mm". How do I convert this into degrees/radians?

Thank you,

Alan

Dirt Dog: Running Silent (No beeps) and How do I Park It?

devedsmith — Sat, 26 Jun 2010 21:37:27 GMT

I pressed the clean button a couple of times one day and ever since, it no longer beeps or plays tones. Does anyone know if there are button presses that can reset this?

Also, I was hoping there was a way to park a Dirt Dog. It's very frustrating to get this thing back on the charging base.

Question about design of USB cable accessory

d4n13 — Thu, 24 Jun 2010 02:35:41 GMT

I got offered a battered and beaten create robot. I don't think it has all it's accessories, but I thought I might be able to simply get the USB cable and do some simple SCI stuff with that. What I don't know is how the USB side of the cable presents itself to the OS.

Does it show up as a USB serial device or does it show up as some proprietary USB device?.
Are there USB drivers for Windows x86 and x64?
Are there linux drivers for it?
Is the driver open source?
What is the USB VID (Vendor ID) and PID (Product ID),

Here's the part I'm looking at buying:

http://store.irobot.com/product/index.jsp?productId=2818673

-Dan <11011011>

Taking sensor data while robot is in middle of While Distance loop

Lisa — Fri, 18 Jun 2010 19:27:23 GMT

I need my robot to drive for distances that I input into the user interface during the robot's operation. The way I currently have this set up is through a While Distance loop.

Is there any way I can stream sensor data while the robot is driving a given distance in the loop? Or will I have to break my one While Distance loop into smaller While Distance loops and take the sensor data in between each loop?

Message Edited by Lisa on 06-18-2010 12:28 PM