Deep sleep

[AndiTheBest]

Hi,

any updates from preventing the roomba going to deep sleep, so the serial comm doesn't get disabled?
Same problem here :/

[Apocrathia]

I've gotten the following code from Thinking Cleaner. Since their product is now EOL, they have been willing to share their source code.

void RoombaWakeOnDock(void) {
    ROOMBA_WAKE_LO();      // hardware wake pin on SCI conn
    DelayMs(50);
    ROOMBA_WAKE_HI();      // hardware wake pin on SCI conn
    DelayMs(80);
    RingBufferWrite(&txBuffer, OPCODE_CLEAN);    // write the CLEAN command code to the SCI port
    RingBufferWrite(&txBuffer, 0x10);
}

Unfortunately, I don't have a 650 to test this with. I hope this helps.

[quazzie]

@Apocrathia got any more information ?
I tried sending this sequence every 50 seconds to keep the 650 awake but it starts the cleaning cycle.
I tried with both OPCODE_CLEAN = 136 and 135.

[AndiTheBest]

I did it the following way:

When Roomba is in dock:

  pinMode(roomba_reset,OUTPUT);
  digitalWrite(roomba_reset,LOW); // start roomba
  delay(200);
  pinMode(roomba_reset,INPUT);
  delay(200);
  ROOSER.write(128); //start command
  delay(10);
  ROOSER.write(135); //CLEAN
  delay(150);
  ROOSER.write(143);//DOCK

When its not in dock and not cleaning:

  ROOSER.write(131);//SAFE MODE
  delay(300);
  ROOSER.write(130);//PASSIVE MODE

But its not working perfectly. The Roomba doesnt go to sleep mode and wastes much power when not in dock. And when the battery got drained, the Arduino is not able to establish a connection until I unplug and replug it.
The delays are important what i remember when implementing this. When you send the commands too fast, it won't recognize them i think.

And every few weeks it happens that the Roomba starts cleaning in the middle of the night. I think the "ROOSER.write(143);//DOCK" command was not received then.

[quazzie]

Thanks @AndiTheBest
Seems to work :)

[legomind]

Just wanted to say that the current wakeup code works great for the 860

[johnboiles]

Great investigation @Apocrathia. I had also tried to reach out to Thinking Cleaner in the past but wasn't able to get ahold of them. I'm glad you were able to!

I'll give this a shot on my 650

[johnboiles]

@Apocrathia did they share their whole source code or just this one bit?

[Apocrathia]

@johnboiles That was the only snippet that they gave to me when I asked. I simply emailed their thinkingcleanersales@thinkingbits.nl address and asked if they would be willing to share how they accomplished it, as their product is EOL and they can no longer benefit from keeping the source code closed. I'm sure someone could convince them to release the rest of it.

[johnboiles]

@AndiTheBest when you're changing pinMode(roomba_reset,INPUT); is that to make the pin high impedence?

[johnboiles]

@Apocrathia's code from Thinking Cleaner definitely causes my Roomba to start cleaning. I'm also super curious what RingBufferWrite(&txBuffer, 0x10) is supposed to do. There's not anything in the docs about that command I don't think.

@AndiTheBest's code is working fine so far for me (only about 15 mins of testing at this point though). @AndiTheBest would you mind putting your full code on GitHub or submitting pull requests? You must have made some other changes to track the state of the roomba so that you can switch wakeup methods

[johnboiles]

I went ahead and pushed up @AndiTheBest's fix to master. Might be good for some non-650 people to try it since it changes things a bit. You might want to comment out #define ROOMBA_650_SLEEP_FIX 1 in the config.h file though

[AndiTheBest]

Sorry, i don't use the code of this project, as i've implemented my project on my own, using an Arduino Pro Micro with a HC-12 wireless transceiver.
Just here for exchanging experience ;)
I've set the Pin to Input instead of Output-High as the Roomba internally already has an Pullup. This is not necessary.

Just for infomation again: Every few weeks/months, the Roomba starts cleaning in the middle of the night, as i think it doesnt get the "DOCK" command after the "CLEAN" command (single serial communication fail). This is something that still needs to get prevented, but i didn't had time to play with my roomba the last few months :/

[johnboiles]

It would still be interesting to see your code if you wouldn’t mind sharing! Maybe some other ideas we could learn!

[johnboiles]

@AndiTheBest's fix has been working reliably for me for a week or so. I still occasionally have an issue where i need to send the turn_on command multiple times to get the roomba to start, but it's possible I need to wait more after pulsing the BRC pin to send commands.

[johnboiles]

I got my first middle-of-the night roomba wake up last night and it sucked. I’m going to put some more effor into figuring out a better solution.