Roomba Wait Event
Waits until Roomba detects the specified event.
Library
QUARC Targets/Devices/Third-Party/iRobot/Roomba/Interfacing
Description
The Roomba Wait Event block causes the robot to wait until it detects the specified event. Roomba's state does not change, nor does it react to any inputs until the specified event is detected.
Roomba events are specified as follows:
|
Event name |
Event number |
Unsigned equivalent of inverse |
|---|---|---|
|
Wheel Drop |
1 |
255 |
|
Front Wheel Drop |
2 |
254 |
|
Left Wheel Drop |
3 |
253 |
|
Right Wheel Drop |
4 |
252 |
|
Bump |
5 |
251 |
|
Left Bump |
6 |
250 |
|
Right Bump |
7 |
249 |
|
Virtual Wall |
8 |
248 |
|
Wall |
9 |
247 |
|
Cliff |
10 |
246 |
|
Left Cliff |
11 |
245 |
|
Front Left Cliff |
12 |
244 |
|
Front Right Cliff |
13 |
243 |
|
Right Cliff |
14 |
242 |
|
Home Base |
15 |
241 |
|
Advance Button |
16 |
240 |
|
Play Button |
17 |
239 |
|
Digital Input 0 |
18 |
238 |
|
Digital Input 1 |
19 |
237 |
|
Digital Input 2 |
20 |
236 |
|
Digital Input 3 |
21 |
235 |
|
Roomba Mode = Passive |
22 |
234 |
To wait for the inverse of an event, the negative of its number using two's complement notation is sent to Roomba. For example, to wait for no bumps, 251 (unsigned equivalent of -5) is sent to Roomba.
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
Use System Timebase
block in Normal simulation.
Input Ports
rmb
A reference to the Roomba stream (see Roomba Initialize block).
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
Event
Options for Roomba events are: Wheel Drop, Front Wheel Drop, Left Wheel Drop, Right Wheel Drop, Bump, Left Bump, Right Bump, Virtual Wall, Wall, Cliff, Left Cliff, Front Left Cliff, Front Right Cliff, Right Cliff, Home Base, Advance Button, Play Button, Digital Input, Digital Input, Digital Input, Digital Input, and OI Mode = Passive.
Inverse event
Check this option to specify inverse of the selected Roomba event.
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 |
Use System Timebase. |
See Also
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