RoboCup 2027

• iRobot® Create® 2 Open Interface (OI)

Prvý pokus o program:

#include <SoftwareSerial.h>

SoftwareSerial roomba(4,3);

void setup() {
  Serial.begin(115200);
  roomba.begin(115200);
  delay(3000);
  roomba.write(128);  // start
  delay(1000);
  roomba.write(132);  // full mode
  delay(1000);
  // program song 1
  roomba.write(140);
  roomba.write(1);
  roomba.write(3);
  roomba.write(60);
  roomba.write(16);
  roomba.write(67);
  roomba.write(16);
  roomba.write(72);
  roomba.write(16);
  delay(200);
  // play song 1
  roomba.write(141);
  roomba.write(1);
  delay(500);
  roomba.write(135);  // start cleaning
}

int x = 0;

void loop() {
  Serial.print("ahoj");
  Serial.println(x++);
  delay(500);

}