Roomba LSD
Controls the three low side drivers on Roomba.
Library
QUARC Targets/Devices/Third-Party/iRobot/Roomba/Interfacing
Description
The Roomba LSD block controls the three low side drivers on Roomba. The state of each driver is specified by the following bit pattern (0 = off and 1 = on at 100% PWM duty cycle):
|
Bit |
Output |
|---|---|
|
7 |
- |
|
6 |
- |
|
5 |
- |
|
4 |
- |
|
3 |
- |
|
2 |
Low Side driver 3 (pin 24) |
|
1 |
Low Side driver 2 (pin 22) |
|
0 |
Low Side driver 1 (pin 23) |
Low side drivers 1 and 2 can provide up to 0.5A of current. Low side driver 3 can provide up to 1.5 A of current. If too much current is requested, the current is limited and the overcurrent flag is set in sensor packet 14 (see Roomba Sensor Request block).
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).
bits
8-bit unsigned value that activates low side drivers. Use 1, 2, and 4 to activate pin 23 (driver 1), pin 22 (driver 2), and pin 24 (driver 3), respectively. Other values (3, 5, 6, and 7) activate combinations of different pins.
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 |
||
|
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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