Roomba Modes
Provides the available options for Roomba operating mode.
Library
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
The Roomba Modes block shows a list of available Roomba operating modes as listed below:
|
Mode Number |
Mode Name |
|---|---|
|
1 |
Passive |
|
2 |
Safe |
|
3 |
Full |
When Roomba is powered on, it is in Passive mode. Upon sending the Start command (opcode 128) or any one of the demo commands (which also starts the specific demo, e.g., Roomba Spot, Roomba Cover, Roomba Dock, or Roomba Run Demo), the robot enters into Passive mode.
When Roomba is in Passive mode, sensor data can be received by sending sensors commands ( see Roomba Sensor Request, Roomba Query List, Roomba Sensor Stream), built-in demos can be run, and the battery can be charged. However, the actuator commands (see Roomba Drive, Roomba Direct Drive, Roomba Play Song, Roomba LED, Roomba LSD, Roomba PWM LSD, Roomba Digital Output) can not be applied. To apply actuator commands, the operating mode must be switched from Passive mode to Full or Safe mode.
When Roomba is in Safe mode, the users have full control on Roomba, with the exception of the following safety-related conditions:
In case of above safety-related conditions in Safe mode, Roomba stops all motors and reverts to the Passive mode. If no commands are sent to Roomba in Safe mode, it waits with all motors and LEDs off and does not respond to Play or Advance button presses or other sensor inputs. Note that charging terminates when Roomba enters in Safe Mode.
When Roomba is in Full mode, the users have complete control over all of its actuators, and all of the safety-related conditions that are restricted when it is in Safe mode, as Full mode shuts off the cliff, wheel-drop and internal charger safety features. If no commands are sent to Roomba in Full mode, it waits with all motors and LEDs off and does not respond to Play or Advance button presses or other sensor input. Note that charging terminates when Roomba enters in Full Mode.
By default, the Roomba Initialize block sets the Roomba operating mode as Safe.
The output of this block provides the index of the selected mode.
Input Ports
This block has no input ports.
Output Ports
mode
Index of the selected mode (1, 2, or 3).
Parameters and Dialog Box
Mode
The options for modes are: Passive, Safe, and Full.
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 |
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