Here is the start of my latest experiment. Not sure how practical it is but it should be fun.
The main components:Irobot
Create with Command Module
Parallax Ping Ultrasonic Sensor
Arduino software and libraries
Jameco J-Bot software (more on that later)
The Create used to be my Security Bot and then got freed up when I created the Security Dawg.I had the command module but really never did anything with it.
A while ago I got an email from Jameco about their J-Bot Robot which was basically a Arduino with two electric motors and a Parallax ping sensor. There was demo software so I got to thinking. Since the Command Module and Adruino ATmega168 boards were similar could I use the Arduino tools instead? The answer is yes. By setting up for a Diecimila board and using the AVR ISP programmer (The Arduino software uses the Atmel Software as a base) I was able to program the Command Module with Arduino programs.
I got a quick start by using the Jameco provided software. I had to modify the code as follows:
Use a different IO pin for the Ping Sensor.
Set pin B4 to allow debug messages back to the serial port.
Change the BAUD rate because of the difference in clock rates. The Arduino runs at 16Mhz, the Command Module runs at 18.432 Mhz. The normally 9600 BAUD rate becomes 8333.
I don't yet have motor control and the Ping Sensor is mounted backwards (It needs GND, 5V, and signal) in the top center port. Port PB1 is used for the interface. Mounting it backwards made it a direct plug-in.
The screen dump shows the pulse to and from the Ping module (narrow too, wide from). The wider the pulse the closer an object is.
I also have a serial port from the roomba showing debug information.
Next up I want to convert the J-Bot controls to Create controls.
I also want to find were the MCU frequency is declared in the code so I can adjust it for proper serial port operation and timer operation.
Once I do that should have a soft touch robot that drives around without hitting anything.