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Table of Contents

Roomba LSD

Controls the three low side drivers on Roomba.

Library

QUARC Targets/Devices/Third-Party/iRobot/Roomba/Interfacing

MATLAB Command Line

Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:

qc_open_library('quarc_library/Devices/Third-Party/iRobot/Roomba/Interfacing')

Description

Roomba LSD

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

Note 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

Roomba LSD

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

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

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.

* Compatible means that the block can be compiled for the target.

See Also

 

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