Roomba Modes

Provides the available options for Roomba operating mode.

Library

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

Description

The Roomba Modes block shows a list of available Roomba operating modes as listed below:

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:

• Detection of a cliff while moving forward (or moving backward with a small turning radius, less than one robot radius).
• Detection of a wheel drop (on any wheel).
• Charger plugged in and powered.

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

Copyright ©2024 Quanser Inc. This page was generated 2024-04-16. Submit feedback to Quanser about this page.

Link to this page.