Roomba 530 Serial port

[yvesdm3000]

Hello,

I'm trying to interface my Roomba 530 to my PC using an FDTI USB232R adapter which shifts TTL-level 5V into a USB virtual COM port. I've successfully used this cable to interface with an ATMEL AVR PIC so it should work fine...

I've written my own little application (nothing fancy) to do the binary communication. On bootup I get this:

bl-start
STR730
bootloader id: #x47055364 B01D8FFF
bootloader info rev: #xF000
bootloader rev: #x0001
2007-05-14-1715-L
Roomba by iRobot!
str730
2008-05-28-1341-L
battery-current-zero 256

2008-05-28-1341-L
r3_robot/trunk:3085 CLEAN

bootloader id: 4705 5364 B01D 8FFF
assembly: 3.3
revision: 0
flash version: 7
flash info crc passed: 1


processor-sleep
key-wakeup 0000000000000000 0000000000000010
slept for 0 minutes 31 seconds

2008-05-28-1341-L
r3_robot/trunk:3085 CLEAN

bootloader id: 4705 5364 B01D 8FFF
assembly: 3.3
revision: 0
flash version: 7
flash info crc passed: 1

battery-current-zero 256

OK, when I send "128" roomba beeps once and roomba replies with exactly the same command "128". For that matter, roomba always replies with the same command, on occasion it does reply with anything else, for example on a 131 command, it replies me with a 253

I'm really stuck here. It looks like I'm able to read but not able to send any command, just as if the command syntax has changed...

-Yves

[mfortuna]

Are you sending ASCII 128 (three characters) or 0x80 hex to the roomba? You appear to have the correct baud rate.

[yvesdm3000]

This is a snippet of the code:

BOOL status;
HANDLE hCom = NULL;
DCB dcb;
unsigned char buffer[128];
int buflen = 0;
DWORD bytesWritten = 0;
DWORD bytesRead = 0;

hCom = ::CreateFile("\\\\.\\COM9",GENERIC_READ|GENERIC_WRITE,0,NULL,OPEN_EXISTING,0,NULL);
::SetupComm(hCom,16,16);
::GetCommState(hCom,&dcb);
dcb.BaudRate = 115200;
// dcb.BaudRate = 19200;
dcb.fBinary = 1;
dcb.fNull = 0;
dcb.fDtrControl = 0;
dcb.ByteSize = 8;
dcb.Parity = NOPARITY;
dcb.StopBits = ONESTOPBIT;
dcb.fAbortOnError = true;
status = ::SetCommState(hCom,&dcb);
buffer[0] = 128;
status = ::WriteFile(hCom,buffer,1,&bytesWritten,NULL);
Sleep(10);
status = ::ReadFile(hCom,buffer,16,&bytesRead,NULL);

So I surely send a clean binary 128 sequence...

-YvesDM

[yvesdm3000]

Found the problem this morning. I unplugged the PS from my laptop and I get a nice comms. Probably an interference/grounding problem...

The roomba is now able to do scheduled cleanings which was the objective.

-Yves

[mfortuna]

That's interesting. Was your 560 docked when you tried to talk to it? If so you could try removing it from the dock and see if it works with your laptop PS plugged in.

[yvesdm3000]

No it was not docked, it was just next to my laptop on the table.

I'll see if I get some time to your test.

-Yves

[yhmmc]

You wrote this little program. How do you run it? How do you get it into the roomba. What program do you use. I am on windows xp sp2 with a roostick and an arduino and a roomba 530 and I have an 8 pin staight through cable. So far, when i hook it up, I can send commands to the roomba and no matter what i send, it goes forward only.

[mfortuna]

The program isn't in the roomba, it is a PC sending commands to the roomba over a serial port.

[yhmmc]

OK, let's assume that the serial port hooked up and communicating to your pc. Where do you go from there to run your program? what is your procedure?

Thanks!

[vic7767]

OK, let's assume that the serial port hooked up and communicating to your pc. Where do you go from there to run your program? what is your procedure?

Thanks!

Head over to this URL and see if you have an interest. You will be able to write, compile, and execute your own programs to do what you want on your Roomba.

https://www.zagrosrobotics.com/shop/ite ... 92&catid=2

[yhmmc]

Vic, once again, thanks. Did you know that I am actually from Louisiana. Left there because of the humidity 16 years ago. But, my heart still misses the fishin' and N.O. roast beef po'boy sandwiches. I am a REAL Cajun, but don't speak a word of french, Shaah!

[yhmmc]

Does this MindControl work with the Roomba530?

[vic7767]

Does this MindControl work with the Roomba530?

Of course it will. You just use different commands and data rate.