Roomba Direct Drive
Controls the forward and backward motion of Roomba's left and right wheels independently.
Library
QUARC Targets/Devices/Third-Party/iRobot/Roomba/Interfacing
Description
The Roomba Direct Drive block iControls the forward and backward motion of Roomba's left and right wheels independently. It takes velocity inputs for the wheels. The first input specifies the velocity of the right wheel in millimeters per second (mm/s). The second input specifies the velocity of the left wheel, in the same format. A positive velocity makes that wheel drive forward, while a negative velocity makes it drive backward.
This command is available in Safe, or Full operating mode of Roomba (see Roomba Modes block). Execution of this command does not change current Roomba operating mode.
Important Notes
Use System Timebase
block in Normal simulation.
Input Ports
rmb
A reference to the Roomba stream (see Roomba Initialize block).
right
16-bit signed value for right wheel velocity. The maximum forward and backward velocities are 500 mm/s and -500 mm/s, respectively.
left
16-bit signed value for left wheel velocity. The maximum forward and backward velocities are 500 mm/s and -500 mm/s, respectively.
Output Ports
rmb
A reference to the Roomba stream, which is the same as input Roomba stream reference. It helps creating a daisy chain of Roomba blocks.
err
This signal returns a negative value in case of memory allocation error or data communication error through Roomba serial port.
Parameters and Dialog Box
Sample time
The sample time of the block. A sample time of 0 indicates that the block will be treated as a continuous time block. A positive sample time indicates that the block is a discrete time block with the given sample time. A sample time of -1 indicates that the block inherits its sample time.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
Use System Timebase. |
See Also
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