roombaPhoton

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Controlling a roomba with a particle photon

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// repository documentation

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# Roomba 650 Wifi Upgrade
---
I've had a Roomba 600 series (~2013 model) for a few years and decided to check out what they have available now (in late 2017). To my surprise they now have a number of robots avaiable and most of them are Wifi enabled. There was no way I was going to fish out $400 for a new one when all I needed was the extra Wifi functioinality so I decided to do the upgrade myself. After setting it up with IFTTT I have all the functionality of the newer models, remote start/stop cleaning, set schedules online, etc.

![image1](https://raw.githubusercontent.com/arturju/roombaPhoton/master/img/img2.jpg)

--- 
## iRobot's Open Interface
Luckily, iRobot specifies their communication protocols and hardware configuration on a [document](/iRobot_Roomba600_oi.pdf). It's worthwile doing a quick read through this document if you're doing any development on a Roomba. Here is my summary:
 * 7 Pin Mini-DIN connector for serial communication at TTL (0-5V)
 	- Pins give us Vpwr, Gnd, Rx, Tx, and one pin to change the baud rate.
 	- Vpwr is connected to the Roomba's battery and can only drive 200mA
 * Roomba's default is 115200 baud. To change to 19200 baud, (while on) press and hold the Clean/Power button for 10 seconds until tune is played.
 * There are four main operating moding to Roomba:
 	- Full: Complete control over Roomba and it's actuators. No safety features like cliff sensing or wheel-drop.
 	- Safe Mode: Full control of Roomba but keeps the safety features.
 	- Passive Mode: Can request and receive sensor data but no control over actuators. Basically good for Spot, Clean, and Seek Dock commands.
 	-Off: Self explanatory.
 * The Roomba can be controlled by issuing Opcodes listed in the reference manual. Some issue a command only, others issue a command followed by some data. For example, 'See Dock' is Opcode 143 with 0 data bytes. Driving the wheels takes Opcode 146 with 4 bytes of data to specify the directory and speed of the wheel rotation.

--- 
## Hardware 
We have to be careful about powering the MCU directly from the Roomba since the voltages are not compatible. I used a Boost/Buck converter to step down the voltage coming out of the Roomba into the Particle Photon.

![schem](https://raw.githubusercontent.com/arturju/roombaPhoton/master/img/roombaPhotonSchem.png)
* [Mini 7 Pin Din connector](https://www.amazon.com/dp/B01CJDKHIA/ref=cm_sw_r_cp_dp_T1_yFWuzbNCM1KP3)
* [Boost converter](https://www.amazon.com/dp/B01GJ0SC2C/ref=cm_sw_r_cp_dp_T1_t5Hnzb928J4AM)

--- 
## Video

[![roombaPhoton](https://img.youtube.com/vi/1GYAIiAMO9g/0.jpg)](https://youtu.be/1GYAIiAMO9g)

--- 
## Software/References
* [iRobot Create 2 Open interface](https://cdn-shop.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf).

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