madc · August 26, 2018 17:58 · Mar 17, 2013
diff --git a/Send infrared commands from the Arduino to the iRobot Roomba b/Send infrared commands from the Arduino to the iRobot Roomba
@@ -0,0 +1,151 @@
+
+#include <IRremote.h>
+
+/*
+
+ Send infrared commands from the Arduino to the iRobot Roomba
+ by probono
+
+ 2013-03-17 Initial release
+
+ Copyright (c) 2013 by probono
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met: 
+
+ 1. Redistributions of source code must retain the above copyright notice, this
+ list of conditions and the following disclaimer. 
+ 2. Redistributions in binary form must reproduce the above copyright notice,
+ this list of conditions and the following disclaimer in the documentation
+ and/or other materials provided with the distribution. 
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+ IR Remote Control
+ 129 Left 
+ 130 Forward 
+ 131 Right 
+ 132 Spot 
+ 133 Max 
+ 134 Small 
+ 135 Medium 
+ 136 Large / Clean 
+ 137 Stop 
+ 138 Power 
+ 139 Arc Left 
+ 140 Arc Right 
+ 141 Stop  
+
+ Scheduling Remote  
+ 142 Download 
+ 143 Seek Dock 
+
+ Roomba Discovery Driveon Charger 
+ 240 Reserved 
+ 248 Red Buoy 
+ 244 Green Buoy 
+ 242 Force Field 
+ 252 Red Buoy and Green Buoy 
+ 250 Red Buoy and Force Field 
+ 246 Green Buoy and Force Field 
+ 254 Red Buoy, Green Buoy and Force 
+
+ Roomba 500 Drive-on Charger
+ 160 Reserved 
+ 161 Force Field 
+ 164 Green Buoy 
+ 165 Green Buoy and Force Field 
+ 168 Red Buoy 
+ 169 Red Buoy and Force Field 
+ 172 Red Buoy and Green Buoy 
+ 173 Red Buoy, Green Buoy and Force Field
+
+ Roomba 500 Virtual Wall
+ 162 Virtual Wall 
+
+ Roomba 500 Virtual Wall Lighthouse ###### (FIXME: not yet supported here)
+ 0LLLL0BB 
+ LLLL = Virtual Wall Lighthouse ID
+ (assigned automatically by Roomba 
+ 560 and 570 robots) 
+ 1-10: Valid ID 
+ 11: Unbound 
+ 12-15: Reserved 
+ BB = Which Beam
+ 00 = Fence 
+ 01 = Force Field 
+ 10 = Green Buoy 
+ 11 = Red Buoy
+
+ */
+
+IRsend irsend; // hardwired to pin 3; use a transistor to drive the IR LED for maximal range
+
+void setup() 
+{
+  Serial.begin(9600); 
+}
+
+void loop() 
+{
+  // Read 3-digit code from serial line and send it via IR 
+  char buffer[] = {
+    ' ',' ',' '    }; // Receive up to 3 bytes
+  while (!Serial.available()); // Wait for characters
+  Serial.readBytesUntil('\n', buffer, 3);
+  int incomingValue = atoi(buffer);
+  if(incomingValue > 0) roomba_send(incomingValue); 
+  delay(1000);
+}
+
+void roomba_send(int code) 
+{
+  Serial.print("Sending Roomba code ");
+  Serial.print(code);
+  int length = 8;
+  unsigned int raw[length*2];
+  unsigned int one_pulse = 3000;
+  unsigned int one_break = 1000;
+  unsigned int zero_pulse = one_break;
+  unsigned int zero_break = one_pulse;
+
+  int arrayposition = 0;
+  // Serial.println("");
+  for (int counter = length-1; counter >= 0; --counter) {
+    if(code & (1<<counter)) {
+      // Serial.print("1");
+      raw[arrayposition] = one_pulse;
+      raw[arrayposition+1] = one_break;
+    } 
+    else {
+      // Serial.print("0");
+      raw[arrayposition] = zero_pulse;
+      raw[arrayposition+1] = zero_break;
+    }
+    arrayposition = arrayposition + 2;
+  } 
+  for (int i = 0; i < 3; i++) {
+    irsend.sendRaw(raw, 15, 38);
+    delay(50);
+  }
+  Serial.println("");
+
+  /*
+  Serial.print("Raw timings:");
+   for (int z=0; z<length*2; z++) {
+   Serial.print(" ");
+   Serial.print(raw[z]);
+   }
+   Serial.print("\n\n");
+   */
+}