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Table of Contents

Roomba Wait Distance

Waits until Roomba has traveled the specified distance in mm.

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 Wait Distance

The Roomba Wait Distance block causes the robot to wait until it has traveled the specified distance in mm. When Roomba travels forward, the distance is incremented. When Roomba travels backward, the distance is decremented. If the wheels are passively rotated in either direction, the distance is incremented. Until Roomba travels the specified distance, its state does not change, nor does it react to any inputs, serial or otherwise.

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. This command resets the angle variable that is returned by Roomba Sensor Request, Roomba Query List, and Roomba Sensor Stream blocks.

Important Notes

Note Use System Timebase block in Normal simulation.

Input Ports

rmb

A reference to the Roomba stream (see Roomba Initialize block).

vel

16-bit signed velocity in mm/s. The maximum forward and backward velocities are 500 mm/s and -500 mm/s, respectively.

rad

16-bit signed radius of curvature in mm. The maximum counterclockwise and clockwise radii of curvature are 2000 mm and -2000 mm, respectively.

Special cases:

ang

16-bit signed distance in mm.

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 Wait Distance

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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