roomba_cpp, Simple C++ library for Roomba iCreate 2

Roomba library C++

Files : Roomba.cpp, Roomba.h

This library is complete and self contained and will run only on Mac, Linux, Raspberry-PI and Beaglebone (should run without any problem, but I have not tested it yet)

NOTE: This will not work in Windows

To communicate with iCreate2 you need the FTDI cable like the one shown below

If you dont have one you can easily hack one, please follow the instructions in these links to make one yourself, Note: The serial port in Roomba iCreate2 is a miniDin connector

link

The main.cpp contains a sample of how to use the library, Right now the events supported are only bump events, I will be making changes to add more events and features

Compiling and running the main.cpp (sample program)

Make sure you change the "/dev/tty.usbserial-DA017QCF" to the device attached to your system when you connect your Roomba

	** Compile **
	Roomba master % g++ -std=c++0x -c Roomba.cpp 
	Roomba master % g++ -std=c++0x -o ./test main.cpp Roomba.o -lpthread
	
	** Run **
	./test 
	
	Now you shoule hear first few notes of Vuelie from frozen movie and the robot will spin for 10 seconds 
	

Sample code

	
//
//  main.cpp
//  Roomba
//
//  Created by janakiraman gopinath on 2/27/15.
//  Copyright (c) 2015 org.koneksahealth.com. All rights reserved.
//


#include "Roomba.h"

void eventf(char *event, int value) {
    
  
    if(strcmp(event, "BUMP") == 0 ) {
        printf("Event : %s\n", event);
        if (BUMP_RIGHT(value)) printf("Bump Right\n");
        if (BUMP_LEFT(value)) printf("Bump Left\n");
        if (WHEEL_DROP_LEFT(value)) printf("Wheel Drop Left\n");
        if (WHEEL_DROP_RIGHT(value)) printf("Wheel Drop Right\n");
        if (WHEEL_DROP_CASTER(value)) printf("Wheel Drop Caster\n");
    }
    if (strcmp(event, "SONG_PLAYING") == 0) {
        printf("Event : %s\n", event);
        if (SONG_PLAYING(value)) printf("Song playing\n");
    }
    if (strcmp(event, "VIRTUAL_WALL") == 0) {
        if (VIRTUAL_WALL_DETECTED(value)) printf("Virtual wall detected\n");
    }

}



int main(int argc, const char * argv[]) {
    
    Roomba *r = new Roomba((char *) "/dev/tty.usbserial-DA017QCF", B115200);
    
    r->printCommands();
    
    if (r->getStatus())
        cout << "Robot initialized successfully" << endl;
    else
        cout << "Failed to initialize robot" << endl;
    
    int events = BUMP_EVENT | SONG_PLAYING_EVENT | VIRTUAL_WALL_EVENT;
    
    r->setEvents(events, eventf);
    //r->bumpEvent(eventf);

    //r->songPlayingEvent(eventf);
 
    //r->virtualWallEvent(eventf);
    
    // GGGAGG GAABGA
    array<int, 32> songSequence = { 91,32,91,32,91,32,93,32,91,32,91,42,91,32,93,32,93,32,95,32,91,32,93,32 };
   
    // 12 Midi sequences from the array  
    
    r->createSong(0, 12, songSequence);
    r->playSong(0);
    
    r->spin(1); // -1 for clockwise spin
    //r->drive(500, 0); // Velocity and angle
    //r->driveDirect(100, -100);
    
    //r->bumpEvent(eventf);
    sleep(10);

    r->stop(); // Finally stop the robot
    
    return 0;
}