Society of Robots - Robot Forum

Electronics => Electronics => Topic started by: Kylepowers on February 05, 2010, 11:26:32 PM

Title: Hacking a roomba
Post by: Kylepowers on February 05, 2010, 11:26:32 PM

Im working on hacking a roomba and have to questions first is the $50 robot controller able to be conected to the roomba. Second is the axom I or II able to be connected at all if any are can you show me how they would be connected. Thanks

Title: Re: Hacking a roomba
Post by: madsci1016 on February 06, 2010, 09:02:28 AM

I wrote code to control Irobot Creates (Roomab without the Vac), And I'm 90% sure it's the sam command structure as a roomba.

http://www.billporter.info/?p=160 (http://www.billporter.info/?p=160)

SO yes, any Microcontroller with a serial port can control a Roomba.

Title: Re: Hacking a roomba
Post by: Kylepowers on February 06, 2010, 09:27:01 AM

It is because its designed the same way. Ill look at it. Thanks but now how would i wire it to the roomba?

Title: Re: Hacking a roomba
Post by: madsci1016 on February 06, 2010, 09:53:01 AM

Well, there are some settle differences. So far the baud rate is different, but all the commands i have checked line up.

What Roomba do you have? 

To wire it, there is a serial port din hiding on your roomba somewhere. On my 530, it was under the top plate.

(http://www.billporter.info/wp-content/uploads//2010/02/IMG_2543-Small.jpg)

The pin out can be found in the irobot command interface document.

For the 500 series,  http://www.robotreviews.com/chat/download/file.php?id=1244 (http://www.robotreviews.com/chat/download/file.php?id=1244)

Title: Re: Hacking a roomba
Post by: Kylepowers on February 06, 2010, 09:46:19 PM

I have the roomba discovery model 4210. I found the port its that 7 pin circle connector that is used on macs. What ports dose it connect on when it interfaces with the axom. I can get the battery to run the axom but.  What ports would you  connect to to recive and send data and when i say ports i mean pins. on the axom II

Title: Re: Hacking a roomba
Post by: madsci1016 on February 07, 2010, 12:01:55 AM

The Pinout of the 7 pin circle will mention a TX and RX (pin 3 and 4). Pick a Uart on the Axon 2 to use.  You Would wire the TX of the Roomba to the RX of the Axon Uart, and RX of the Rommba to the TX of the Axon Uart.

Title: Re: Hacking a roomba
Post by: Kylepowers on February 07, 2010, 05:25:57 PM

Ah yes i see but now i am seeming to have a problem locating these uart pins on the data sheets and stuff on the axom i find them but where are they on the layout of the axon 2 sorry if i seem to be relativly stupid.

Title: Re: Hacking a roomba
Post by: Admin on February 08, 2010, 12:30:02 AM

http://www.societyofrobots.com/axon2/axon2_datasheet.shtml (http://www.societyofrobots.com/axon2/axon2_datasheet.shtml)

Look for U0 (uart0), U2, U3 . . . and you'll see T (Tx) R (Rx) G (ground)

(http://www.societyofrobots.com/axon2/images/axon2_power_bus.png)

http://www.societyofrobots.com/axon/axon_datasheet.shtml (http://www.societyofrobots.com/axon/axon_datasheet.shtml)

And for the original Axon, UART0, UART2, etc . . .

(http://www.societyofrobots.com/axon/images/axon_pinout.png)