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Table of Contents

Roomba Play Script

Executes the specified script.

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 Play Script

The Roomba Play Script block specifies a script to be played. A script consists of iRobot Roomba API commands and can be up to 100 bytes long. The first byte specifies the number of data bytes in the script. For example, to drive 400 cm and stop, the following script command is sent to Roomba:

13 137 1 44 128 0 156 1 144 137 0 0 0 0

where 13 is the number of data bytes in the script, 137 is the opcode of drive command, and 156 is the opcode of wait distance command. The rest of the bytes specifiy data bytes corresponding to different commands. For example, 1, 44, 128, and 0 define the velocity and radius bytes for the first drive command. Then, 1 and 144 define wait distance data bytes and the last four bytes define the data bytes for the last drive command. The following table specifies Roomba commands.

Source: iRobot Create Open Interface v.2 Manual

This command is available in Passive, 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).

script

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

Parameters and Dialog Box

Roomba Play Script

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.

 

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