Roomba 530 OI serial data

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Re: Roomba 530 OI serial data

Postby LazyRoomba » August 2nd, 2016, 9:09 am

By getting the exact ticks / mm, script delay, I'm able to create a virtual encoder.

Virtual: http://prntscr.com/c0ng3q

I just give the script the motor speed in mm/s and it increments, or decrements, the correct amount of ticks for the distance covered by the script delay. The encoders are too erratic to be used at all. Could be my roomba, arduino, the wheels, aging PCB ect.. parameters are too much to find the exact issue why.

Just need to workout the difference when turning.

Edit:

Nailed it! I replaced the wires that are soldered directly on the PCB with new ones, and twisted them. I also reviewed the data conversion code aswell. Encoders are stable now. Still sometimes spike, but a lot more stable.
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Re: Roomba 530 OI serial data

Postby a1robotrepair » August 2nd, 2016, 1:09 pm

Nicely done. I also removed the SCI connector, makes life easier.
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Re: Roomba 530 OI serial data

Postby LazyRoomba » August 3rd, 2016, 10:28 am

Little update. I created a method that reverses the Roomba by a specified mm. I reversed the Roomba 100mm's, the results..
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Re: Roomba 530 OI serial data

Postby LazyRoomba » August 3rd, 2016, 4:35 pm

Couldn't see a packet, is their a packet I can send to tell Roomba to goto sleep? the 281ma draw is making my charging code charge roomba very often.

Edit:

I found a power down command (133)
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Re: Roomba 530 OI serial data

Postby LazyRoomba » August 5th, 2016, 8:00 am

May have a bug. If I send optcode 142 with packet 100, I don't get any right light bumper signal data, just returns a "0" on any packet after the left light bumper signal.

Also, packets 43 and 44 are the wrong way round. Left encoder is right, Right encoder is left.

Edit:
packet 100 only seems to get packet ID's 7 ->48
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Re: Roomba 530 OI serial data

Postby LazyRoomba » August 9th, 2016, 6:40 pm

Having issues with getting the right light bumper signal when getting serial data. I've tried packets 100, 101 and 106 and I cannot get the light bumper data. Packet 100 gives me nothing, whilst packet 101 and 106 give me a value of 256 -> 512 -> 768. What's annoying the left side is working perfectly.

Any ideas? Looks like another bug.
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Re: Roomba 530 OI serial data

Postby LazyRoomba » August 10th, 2016, 9:45 am

Found the issue. Arduino serial buffer was overflowing.
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