Hacking a roomba

[Kylepowers]

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

[madsci1016]

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

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

[Kylepowers]

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

[madsci1016]

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.



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

[Kylepowers]

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

[madsci1016]

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.

[Kylepowers]

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.

[Admin]

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/axon/axon_datasheet.shtml

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