Roomba Dock
Starts the built-in iRobot Cover and Dock demo.
Library
QUARC Targets/Devices/Third-Party/iRobot/Roomba/Interfacing
Description
The Roomba Dock block starts the built-in iRobot Cover and Dock demo. In this demo, Roomba attempts to cover an entire room using a combination of behaviors, such as random bounce, wall following, and spiraling. If Roomba sees an infrared signal from an iRobot Home Base, it uses that signal to dock with the Home Base and recharge itself.
This command is available in Passive, Safe, or Full operating mode of Roomba (see Roomba Modes block). Execution of this command changes current Roomba operating mode to Passive.
Important Notes
Use System Timebase
block in Normal simulation.
Input Ports
rmb
A reference to the Roomba stream (see Roomba Initialize block).
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
Operating moed
The options for operating modes are: Stop and Start. Select Start and Stop options to start and stop the demo, respectively. By default, the Stop option is selected.
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 |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
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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