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roomba600Extension.js
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roomba600Extension.js
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// roomba600Extension.js
// Roomba 600 Scratch Extension
// Copyright (c) 2015 iRobot Corporation
// http://www.irobot.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
// Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in
// the documentation and/or other materials provided with the
// distribution.
//
// Neither the name of iRobot Corporation nor the names
// of its contributors may be used to endorse or promote products
// derived from this software without specific prior written
// permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
(function (ext) {
"use strict";
var device = null;
var dockingq = 0;
var safeModeOpcode = 131;
var streamCmd = new Uint8Array([
/* Request stream */
148,
/* Number of packets requested */
12,
/* List of packets */
7, // Bumps and wheel-drops
9, 10, 11, 12, // Cliffs
14, // Overcurrents (handled internally)
18, // Buttons
34, // Charge source available
35, // OI Mode
43, 44, // Encoder counts
45 // Light bumper
]);
var streamDataLength = 0;
var oiModes = {
'off' : 0,
'passive' : 1,
'safe' : 2,
'full' : 3
};
// Sensor states:
var sensorIndices = {
// Individual sensors
'bumps-wheeldrops': 7,
'wall': 8,
'cliff-left': 9,
'cliff-front-left': 10,
'cliff-front-right': 11,
'cliff-right': 12,
'virtual-wall': 13,
'overcurrents': 14,
'dirt-detect': 15,
'ir-opcode': 17,
'buttons': 18,
'distance': 19,
'angle': 20,
'charging-state': 21,
'voltage': 22,
'current': 23,
'temperature': 24,
'battery-charge': 25,
'battery-capacity': 26,
'wall-signal': 27,
'cliff-left-signal': 28,
'cliff-front-left-signal': 29,
'cliff-front-right-signal': 30,
'cliff-right-signal': 31,
'charger-available': 34,
'open-interface-mode': 35,
'song-number': 36,
'song-playing?': 37,
'oi-stream-num-packets': 38,
'velocity': 39,
'radius': 40,
'velocity-right': 41,
'velocity-left': 42,
'encoder-counts-left': 43,
'encoder-counts-right': 44,
'light-bumper': 45,
'light-bump-left': 46,
'light-bump-front-left': 47,
'light-bump-center-left': 48,
'light-bump-center-right': 49,
'light-bump-front-right': 50,
'light-bump-right': 51,
'ir-opcode-left': 52,
'ir-opcode-right': 53,
'left-motor-current': 54,
'right-motor-current': 55,
'main-brush-current': 56,
'side-brush-current': 57,
'stasis': 58,
// Sensor groups
'group-0': 0,
'group-1': 1,
'group-2': 2,
'group-3': 3,
'group-4': 4,
'group-5': 5,
'group-6': 6,
'group-100': 100,
'group-101': 101,
'group-106': 106,
'group-107': 107
};
var sensorCache = {
// Individual sensors
'bumps-wheeldrops': 0,
'wall': 0,
'cliff-left': 0,
'cliff-front-left': 0,
'cliff-front-right': 0,
'cliff-right': 0,
'virtual-wall': 0,
'overcurrents': 0,
'dirt-detect': 0,
'ir-opcode': 0,
'buttons': 0,
'distance': 0,
'angle': 0,
'charging-state': 0,
'voltage': 0,
'current': 0,
'temperature': 0,
'battery-charge': 0,
'battery-capacity': 0,
'wall-signal': 0,
'cliff-left-signal': 0,
'cliff-front-left-signal': 0,
'cliff-front-right-signal': 0,
'cliff-right-signal': 0,
'charger-available': 0,
'open-interface-mode': 0,
'song-number': 0,
'song-playing?': 0,
'oi-stream-num-packets': 0,
'velocity': 0,
'radius': 0,
'velocity-right': 0,
'velocity-left': 0,
'encoder-counts-left': 0,
'encoder-counts-right': 0,
'light-bumper': 0,
'light-bump-left': 0,
'light-bump-front-left': 0,
'light-bump-center-left': 0,
'light-bump-center-right': 0,
'light-bump-front-right': 0,
'light-bump-right': 0,
'ir-opcode-left': 0,
'ir-opcode-right': 0,
'left-motor-current': 0,
'right-motor-current': 0,
'main-brush-current': 0,
'side-brush-current': 0,
'stasis': 0
};
var sensorLengths = [26, 10, 6, 10, 14, 12, 52, // Groups 0 - 6
1, 1, 1, 1, 1, 1, 1, 1, // Sensors 7 - 14
1, 1, 1, 1, 2, 2, 1, 2, // Sensors 15 - 22
2, 1, 2, 2, 2, 2, 2, 2, // Sensors 23 - 30
2, 1, 2, 1, 1, 1, 1, 1, // Sensors 31 - 38
2, 2, 2, 2, 2, 2, 1, 2, // Sensors 39 - 46
2, 2, 2, 2, 2, 1, 1, 2, // Sensors 47 - 54
2, 2, 2, 1 // Sensors 55 - 58
];
// Wrapper that will also print out the opcodes being sent to the browser console.
function sendToRobot(cmd) {
// TODO fix funny printing of single byte arrays...
console.log("Sending " + Array.apply([], cmd).join(","));
device.send(cmd.buffer);
}
// Private logic
function getSensor(which) {
return sensorCache[which];
}
function anyCliff() {
return ( (getSensor('cliff-left') & 0x01)
|| (getSensor('cliff-front-left') & 0x01)
|| (getSensor('cliff-front-right') & 0x01)
|| (getSensor('cliff-right') & 0x01) );
}
function getBooleanSensor(which) {
if (device === null) {
return false;
}
if (which === 'robot control allowed' &&
(getSensor('open-interface-mode') == oiModes['safe']) ) { return true; }
// bumps-wheeldrops
if (which === 'right bumper' && (getSensor('bumps-wheeldrops') & 0x01)) { return true; }
if (which === 'left bumper' && (getSensor('bumps-wheeldrops') & 0x02)) { return true; }
if (which === 'bumper' && (getSensor('bumps-wheeldrops') & 0x03)) { return true; }
if (which === 'right wheel' && (getSensor('bumps-wheeldrops') & 0x04)) { return true; }
if (which === 'left wheel' && (getSensor('bumps-wheeldrops') & 0x08)) { return true; }
if (which === 'any wheel' && (getSensor('bumps-wheeldrops') & 0x0C)) { return true; }
if (which === 'left cliff' && (getSensor('cliff-left') & 0x01)) { return true; }
if (which === 'front-left cliff' && (getSensor('cliff-front-left') & 0x01)) { return true; }
if (which === 'front-right cliff' && (getSensor('cliff-front-right') & 0x01)) { return true; }
if (which === 'right cliff' && (getSensor('cliff-right') & 0x01)) { return true; }
if (which === 'any cliff' && anyCliff()) { return true; }
if (which === 'cliff' && anyCliff()) { return true; }
if (which === 'virtual wall' && (getSensor('virtual-wall') & 0x01)) { return true; }
// overcurrents
if (which === 'side-brush stall' && (getSensor('overcurrents') & 0x01)) { return true; }
if (which === 'main-brush stall' && (getSensor('overcurrents') & 0x04)) { return true; }
if (which === 'right wheel stall' && (getSensor('overcurrents') & 0x08)) { return true; }
if (which === 'left wheel stall' && (getSensor('overcurrents') & 0x10)) { return true; }
if (which === 'stall' && (getSensor('overcurrents') & 0xFF)) { return true; }
// buttons
if (which === 'clean button' && (getSensor('buttons') & 0x01)) { return true; }
if (which === 'spot button' && (getSensor('buttons') & 0x02)) { return true; }
if (which === 'dock button' && (getSensor('buttons') & 0x04)) { return true; }
if (which === 'minute button' && (getSensor('buttons') & 0x08)) { return true; }
if (which === 'hour button' && (getSensor('buttons') & 0x10)) { return true; }
if (which === 'day button' && (getSensor('buttons') & 0x20)) { return true; }
if (which === 'schedule button' && (getSensor('buttons') & 0x40)) { return true; }
if (which === 'clock button' && (getSensor('buttons') & 0x80)) { return true; }
if (which === 'any button' && (getSensor('buttons') & 0xFF)) { return true; }
// charging state
if (which === 'charging error' && (getSensor('charging-state') === 5)) { return true; }
if (which === 'recovery charging' && (getSensor('charging-state') === 1)) { return true; }
if (which === 'full charging' && (getSensor('charging-state') === 2)) { return true; }
if (which === 'trickle charging' && (getSensor('charging-state') === 3)) { return true; }
if (which === 'not charging' && (getSensor('charging-state') === 0)) { return true; }
if (which === 'charging' && (getSensor('charging-state') > 0) && (getSensor('charging-state') < 5)) { return true; }
// charger available
if (which === 'charger plugged in' && (getSensor('charger-available') & 0x01)) { return true; }
if (which === 'robot on dock' && (getSensor('charger-available') & 0x02)) { return true; }
if (which === 'charger not detected' && !(getSensor('charger-available') & 0x03)) { return true; }
if (which === 'song playing' && (getSensor('song-playing?') & 0x01)) { return true; }
// Light bumper sections
if ((which === 'wall') && (getSensor('light-bumper') & 0xFF)) { return true; }
if ((which === 'wall left') && (getSensor('light-bumper') & 0x03)) { return true; }
if ((which === 'wall front') && (getSensor('light-bumper') & 0x1E)) { return true; }
if ((which === 'wall right') && (getSensor('light-bumper') & 0x30)) { return true; }
// Individual light bumpers
if (which === 'left light bumper activated' && (getSensor('light-bumper') & 0x01)) { return true; }
if (which === 'front-left light bumper activated' && (getSensor('light-bumper') & 0x02)) { return true; }
if (which === 'center-left light bumper activated' && (getSensor('light-bumper') & 0x04)) { return true; }
if (which === 'center-right light bumper activated' && (getSensor('light-bumper') & 0x08)) { return true; }
if (which === 'front-right light bumper activated' && (getSensor('light-bumper') & 0x10)) { return true; }
if (which === 'right light bumper activated' && (getSensor('light-bumper') & 0x20)) { return true; }
if (which === 'light bumper activated' && (getSensor('light-bumper') & 0xFF)) { return true; }
return false;
}
ext.resetAll = function () {};
// Hats
ext.whenSensorConnected = function (which) {
return getBooleanSensor(which);
};
ext.whenSensorPass = function (which, sign, level) {
if (sign === '<')
{
return getSensor(which) < level;
}
else if (sign === '>')
{
return getSensor(which) > level;
}
else
{
return getSensor(which) === level;
}
};
// Reporters
ext.booleanSensor = function (which) {
return getBooleanSensor(which);
};
ext.sensor = function (which) {
return getSensor(which);
};
// Commands
var tempo = 60; // In beats/minute
ext.playNote = function(note, beats, callback) {
var duration = (beats/tempo)*60*64;
if (duration < 1) {
alert("Roomba cannot play a note for that short.\\n"
+ "Increase the beats and/or reduce the tempo");
} else if (duration > 255) {
alert("Roomba cannot play a note for that long.\\n"
+ "Decrease the beats and/or increase the tempo");
}
if ((note > 107) || ((note < 31) && (note !== 0))) // 0 = rest note.
{
alert("Roomba only has a note range of 31 to 107.\\n"
+ "Please select within this range.\\n"
+ "To rest, use 0 as the note value.");
callback();
}
var cmd = new Uint8Array([140, // Load 'song' (note in this case)
0, // Song number (irrelevant)
1,
note,
duration,
141, // Play 'song'
0
]);
sendToRobot(cmd);
window.setTimeout(function() {
callback();
}, (1000*duration/64)); // Duration is 1/64th seconds. Convert to ms.
}
ext.setTempo = function(desiredTempo) {
// Assuming 32nd note at fastest roomba can (60sec/min * 64 * 4/32)
if (desiredTempo > 500) {
alert("This tempo is too fast for Roomba. Please set to under 500 bpm");
}
// Assuming quarter note at slowest roomba can (255/64 = 3.98 seconds)
else if (desiredTempo < 20) {
alert("This tempo is too slow for Roomba. Please set to over 20 bpm");
}
else
{
tempo = desiredTempo;
}
}
var topDriveSpeed = 300;
var driveSpeed = topDriveSpeed;
var driveRadius = 32768;
var robotDriving = 0;
ext.setDriveSpeed = function(speed) {
// Speed passed in as a percentage of the normal drive speed of 300 mm/s
// Silently cap speed percentage between 0 and 100%.
if (speed > 100)
{
speed = 100;
}
else if (speed < 0)
{
speed = 0;
}
driveSpeed = (topDriveSpeed*speed)/100;
console.info("Set speed to " + speed);
};
ext.setDriveRadius = function(radius) {
/* Radius must be between -2000 mm and 2000 mm or
* signify straight (32767/32768).
*/
if (((radius <= 2000) && (radius >= -2000)) ||
(radius === 32767) || (radius === 32768) )
{
driveRadius = radius;
}
else
{
alert("Radius must be between -2000 and 2000 mm or be 32768 (straight)");
}
console.info("Set drive radius to " + radius);
};
ext.drive = function() {
if (driveSpeed === 0)
{
alert("Drive speed is set to 0%.");
}
go(driveRadius, driveSpeed);
}
function go(radius, speed) {
var radius_twos = radius;
var speed_twos = speed;
dockingq = 0; // No longer docking.
if(radius < 0) {
radius_twos = 65535 + radius;
}
if(speed < 0) {
speed_twos = 65535 + speed;
}
robotDriving = (speed != 0); // Used for constant bump safety check
var cmd = new Uint8Array([137, // Drive
(speed_twos >> 8) & 0xFF,
speed_twos & 0xFF,
(radius_twos >> 8) & 0xFF,
radius_twos & 0xFF
]);
sendToRobot(cmd);
cmd = null; // Is this necessary?
}
function calculateEncoderDiffs(startEnc, endEnc) {
var diffs = [endEnc[0] - startEnc[0],
endEnc[1] - startEnc[1]];
if (diffs[0] >= 65535) { diffs[0] -= 65535; }
else if (diffs[0] <= -65535) { diffs[0] += 65535; }
if (diffs[1] >= 65535) { diffs[1] -= 65535; }
else if (diffs[1] <= -65535) { diffs[1] += 65535; }
return diffs;
}
function calculateDistanceCM(startEnc, endEnc) {
// From OI Spec (see sensor packets 43 and 44).
var distanceClicksPerMM = 0.28117374;
var diffs = calculateEncoderDiffs(startEnc, endEnc);
var distanceClicks = (diffs[0] + diffs[1])/16;
return (distanceClicks / distanceClicksPerMM)/10; // Convert to cm.
}
function calculateAngleDeg(startEnc, endEnc) {
// From OI Spec (see sensor packets 43 and 44).
var angleClicksPerDeg = 0.5692593;
var diffs = calculateEncoderDiffs(startEnc, endEnc);
var angleClicks = (diffs[1] - diffs[0])/16;
return (angleClicks / angleClicksPerDeg);
}
var startEncoders;
var driveUntilDistance = 0;
var distanceTraveled = 0;
var estimatedDistanceTraveled = 0;
var distanceCountOfIntervals = 0;
var distanceCountOfLastUpdate = 0;
var turnUntilAngle = 0;
var angleTraveled = 0;
var estimatedAngleTraveled = 0;
var angleCountOfIntervals = 0;
var angleCountOfLastUpdate = 0;
function checkEncoderDistance(interval, callback) {
var endEncoders = [getSensor('encoder-counts-left'),
getSensor('encoder-counts-right')];
var distanceUpdate = calculateDistanceCM(startEncoders, endEncoders);
if (distanceUpdate) {
distanceTraveled += distanceUpdate;
estimatedDistanceTraveled = distanceTraveled;
distanceCountOfLastUpdate = distanceCountOfIntervals - 1;
}
// If no updates since drive was requested, assume we are moving at
// least half as fast as the input drive speed (converted to CM).
else if (distanceTraveled == 0) {
estimatedDistanceTraveled += ((driveSpeed/10) * interval/1000)/2;
}
// Estimate how much we moved (and will move by the next update).
// Require at least 2 updates before we are accurate (update takes ~3 intervals)
else if (distanceCountOfLastUpdate > 3) {
estimatedDistanceTraveled += distanceTraveled/distanceCountOfLastUpdate;
}
console.log("Drove " + estimatedDistanceTraveled
+ " of " + driveUntilDistance + " cm --" + distanceTraveled);
// Do not update until we know the robot is moving.
if (distanceTraveled !== 0) {
distanceCountOfIntervals++;
}
if ( (Math.ceil(Math.abs(estimatedDistanceTraveled)) < Math.abs(driveUntilDistance))
&& getBooleanSensor('robot control allowed')
// In case another block stops the robot from driving.
&& robotDriving )
{
startEncoders = endEncoders;
setTimeout(function() {
checkEncoderDistance(interval, callback);
}, interval);
}
else
{
go(32768,0);
callback();
}
}
function checkEncoderAngle(interval, callback) {
var endEncoders = [getSensor('encoder-counts-left'),
getSensor('encoder-counts-right')];
var angleUpdate = calculateAngleDeg(startEncoders, endEncoders);
if (angleUpdate) {
angleTraveled += angleUpdate;
estimatedAngleTraveled = angleTraveled;
angleCountOfLastUpdate = angleCountOfIntervals - 1;
}
// If no updates since turn was requested, assume we are moving at
// least a little bit.
else if (angleTraveled == 0) {
estimatedAngleTraveled += 0.5 * driveSpeed/topDriveSpeed;
}
// Estimate how much we moved (and will move by the next update).
// Require at least 2 updates before we are accurate (update takes ~3 intervals)
if (angleCountOfLastUpdate > 3 ) {
estimatedAngleTraveled += angleTraveled/angleCountOfLastUpdate;
}
console.log("Turned " + estimatedAngleTraveled
+ " of " + turnUntilAngle + " deg --" + angleTraveled);
// Do not update until we know the robot is moving.
if (angleTraveled !== 0) {
angleCountOfIntervals++;
}
if ( (Math.ceil(Math.abs(estimatedAngleTraveled)) < Math.abs(turnUntilAngle))
&& getBooleanSensor('robot control allowed')
// In case another block stops the robot from driving.
&& robotDriving )
{
startEncoders = endEncoders;
setTimeout(function() {
checkEncoderAngle(interval, callback);
}, interval);
}
else
{
go(32768,0);
callback();
}
}
function turnUntil(direction, degrees, callback) {
// Allow only a single full rotation per call. Avoids
// encoder roll over complications.
if ((degrees > 360) || (degrees < 0))
{
alert("Angle must be between 0 and 360 degrees.");
return callback();
}
if (driveSpeed === 0)
{
alert("Drive speed is set to 0%.");
return callback();
}
if(direction === 'clockwise')
{
go(-1, driveSpeed);
}
else
{
go(1, driveSpeed);
}
// Wait until traveled angle degrees
startEncoders = [getSensor('encoder-counts-left'),
getSensor('encoder-counts-right')];
turnUntilAngle = degrees;
angleTraveled = 0;
estimatedAngleTraveled = 0;
angleCountOfIntervals = 0;
angleCountOfLastUpdate = 0;
console.info("Turning until " + degrees + " degrees");
checkEncoderAngle(5, callback);
};
ext.turnUntilLeft = function(degrees, callback) {
turnUntil('counter-clockwise', degrees, callback);
}
ext.turnUntilRight = function(degrees, callback) {
turnUntil('clockwise', degrees, callback);
}
function driveDistance(distance, callback) {
// Check for the maximum distance that can be measured
//var distanceClicksPerMM = 0.28117374; // From the Roomba 600 code
// Max distance is 65535 * distanceClicksPerMM ~ 18.4 meters.
// Rounding to 15 meters
if (Math.abs(distance) > 1500 )
{
alert("Distance must be between -1500 and 1500 centimeters.");
return callback();
}
if (driveSpeed === 0)
{
alert("Drive speed is set to 0%.");
return callback();
}
if (distance > 0)
{
go(driveRadius, driveSpeed);
}
else
{
go(driveRadius, -driveSpeed);
}
// Wait until traveled distance mm
startEncoders = [getSensor('encoder-counts-left'),
getSensor('encoder-counts-right')];
driveUntilDistance = distance;
distanceTraveled = 0;
estimatedDistanceTraveled = 0;
distanceCountOfIntervals = 0;
distanceCountOfLastUpdate = 0;
console.info("Driving until " + distance + " mm");
checkEncoderDistance(5, callback);
};
ext.driveUntil = function(distance, callback) {
driveDistance(distance, callback);
}
ext.stop = function() {
go(32768,0);
};
var motorStatus = {
'side-brush-on': 0,
'vacuum-on' : 0,
'main-brush-on': 0,
'side-brush-cw': 0,
'main-brush-cw': 0
};
function getMotorEnableByte(mStatusObj) {
return ((mStatusObj['main-brush-cw'] << 4)
+ (mStatusObj['side-brush-cw'] << 3)
+ (mStatusObj['main-brush-on'] << 2)
+ (mStatusObj['vacuum-on'] << 1)
+ (mStatusObj['side-brush-on']) );
}
function sendNonWheelMotors() {
var cmd = new Uint8Array([138, getMotorEnableByte(motorStatus)]);
sendToRobot(cmd);
}
ext.vacuumEnable = function(enabled) {
if (enabled === 'off')
{
motorStatus['vacuum-on'] = 0;
}
else
{
motorStatus['vacuum-on'] = 1;
}
sendNonWheelMotors();
};
ext.motorEnable = function(motor, direction) {
switch(motor)
{
case 'side brush':
if (direction === 'off')
{
motorStatus['side-brush-on'] = 0;
}
else
{
motorStatus['side-brush-on'] = 1;
if (direction === 'clockwise')
{
motorStatus['side-brush-cw'] = 1;
}
else
{
motorStatus['side-brush-cw'] = 0;
}
}
break;
case 'main brush':
if (direction === 'off')
{
motorStatus['main-brush-on'] = 0;
}
else
{
motorStatus['main-brush-on'] = 1;
if (direction === 'clockwise')
{
motorStatus['main-brush-cw'] = 0;
}
else
{
motorStatus['main-brush-cw'] = 1;
}
}
break;
}
sendNonWheelMotors();
};
var ledStates = {
'check-robot': 0,
'dock': 0,
'spot': 0,
/* Debris is displayed on startup to avoid confusion
of all LEDs being off (could be misinterpreted as sleeping */
'debris': 1,
'Sat': 0,
'Fri': 0,
'Thu': 0,
'Wed': 0,
'Tue': 0,
'Mon': 0,
'Sun': 0,
'Schedule': 0,
'Clock': 0,
'AM': 0,
'PM': 0,
':' : 0,
'powerColor' : 0,
'powerIntensity' : 0
};
function setLEDs() {
var ledBits = (ledStates['check-robot'] << 3)
+ (ledStates['dock'] << 2)
+ (ledStates['spot'] << 1)
+ ledStates['debris'];
var cmd = new Uint8Array([139,
ledBits,
ledStates['powerColor'],
ledStates['powerIntensity']
]);
sendToRobot(cmd);
cmd = null;
}
function setSchedulingLEDs() {
var weekdayBits = (ledStates['Sat'] << 6)
+ (ledStates['Fri'] << 5)
+ (ledStates['Thu'] << 4)
+ (ledStates['Wed'] << 3)
+ (ledStates['Tue'] << 2)
+ (ledStates['Mon'] << 1)
+ ledStates['Sun'];
var schedulingBits = (ledStates['Schedule'] << 4)
+ (ledStates['Clock'] << 3)
+ (ledStates['AM'] << 2)
+ (ledStates['PM'] << 1)
+ ledStates[':'];
var cmd = new Uint8Array([162,
weekdayBits,
schedulingBits
]);
sendToRobot(cmd);
cmd = null;
}
ext.setLED = function(led, state) {
if (state === 'on')
{
ledStates[led] = 1;
}
else if(state === 'off')
{
ledStates[led] = 0;
}
else
{
ledStates[led] = state;
}
setLEDs();
setSchedulingLEDs();
};
ext.setCleanLEDIntensity = function(intensity) {
// Silently cap intensity between 0 and 100%.
if (intensity > 100)
{
intensity = 100;
}
else if (intensity < 0)
{
intensity = 0;
}
ledStates['powerIntensity'] = (intensity*255)/100;
setLEDs();
};
ext.setCleanLEDColor = function(color) {
switch(color)
{
case 'green':
ledStates['powerColor'] = 0;
break;
case 'red':
ledStates['powerColor'] = 255;
break;
case 'amber':
ledStates['powerColor'] = 128;
break;
case 'yellow':
ledStates['powerColor'] = 47;
break;
default:
if (color < 0)
{
color = 0;
}
else if (color > 255)
{
color = 255;
}
ledStates['powerColor'] = color;
break;
}
setLEDs();
};
var digits = [0,0,0,0];
function setDigits() {
var cmd = new Uint8Array([164,
digits[3],
digits[2],
digits[1],
digits[0]
]);
sendToRobot(cmd);
}
ext.setDigits = function(dig3, dig2, dig1, dig0) {
digits[0] = dig0.charCodeAt(0);
digits[1] = dig1.charCodeAt(0);
digits[2] = dig2.charCodeAt(0);
digits[3] = dig3.charCodeAt(0);
setDigits();
};
/* Safety Code */
var overcurrentCounts = {
'side-brush' : 0,
'main-brush' : 0,
'right wheel' : 0,
'left wheel' : 0
};
var overcurrentOffTrigger = 32; // ~0.5 second sounds good.
var bumperCounts = 0;
/* Call this after an error is detected to avoid warning for multiple
* safety checks at the same time.
*/
function resetSafetyHandlers() {
// To avoid worrying about browser compatability...
overcurrentCounts = {
'side-brush' : 0,
'main-brush' : 0,
'right wheel' : 0,
'left wheel' : 0
};
bumperCounts = 0;
}
function handleOvercurrent(motor) {
overcurrentCounts[motor] += getBooleanSensor(motor.concat(' stall'))*2 - 1;
// Don't allow it to go below 0
overcurrentCounts[motor] = Math.max(parseInt(overcurrentCounts[motor]), 0);
// Turn off motor if overcurrenting for too long
if (overcurrentCounts[motor] > overcurrentOffTrigger)
{
console.warn("Motor overcurrented: " + motor);
if ((motor === 'side-brush') || (motor === 'main-brush'))
{
console.log(motor.concat('-on'));
motorStatus[motor.concat('-on')] = 0;
sendNonWheelMotors();
}
// Stop wheels no matter what caused the error. The alert will stop
// the blocks so we want to avoid running without control.
go(32768,0);
resetSafetyHandlers(); // Reset counts to prevent multiple alerts
// Alert after stopping because the alert is blocking...
alert("Safety Error: Overcurrent detected!\\n"
+ "Please check " + motor + " motor.");
}
}
function badBumper() {
return getBooleanSensor('bumper') && robotDriving;
}
function handleConstantBumper() {
bumperCounts += badBumper()*2 - 1;
// Don't allow it to go below 0
bumperCounts = Math.max(parseInt(bumperCounts), 0);
// Turn off wheels if bumper is triggered for ~10 seconds
if (bumperCounts > (10/0.015)) // 15 ms updates
{
console.warn("Bumper pressed for too long");
go(32768,0)
resetSafetyHandlers(); // Reset counts to prevent multiple alerts
alert("Safety Error: Bumper pressed for too long!\\n"
+ "Please check bumper and avoid running Roomba "
+ "into objects for long periods of time.");
}
}
function safetyChecks() {
// Make sure it's in safe mode
if ( (getSensor('open-interface-mode') != oiModes['safe'])
&& (dockingq == 0) )
{
// If no safety issues, re-enter safe mode
if (!( getBooleanSensor('any wheel')
/* Not checking if cliffs are active because this
only matters if driving forward.
|| getBooleanSensor('any cliff')
*/
|| getBooleanSensor('charger plugged in') ))
{
console.warn("Robot fell out of safe mode.");
sendToRobot(new Uint8Array([safeModeOpcode]));
// Re-enable LEDs since they were disabled in passive mode
setLEDs();
setSchedulingLEDs();
setDigits();
}
}
else // Robot is in safe mode and can drive. Check safety conditions.
{
handleOvercurrent('side-brush');