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Most of us use iRobot Roomba robots only for vacuuming, but few know that it is a great base for a new robotic projects. All makers should try the Roomba Open Interface (OI) to find out how easy it is to control this robot. In this instruction you will learn how to add some useful features to your Roomba. At the beginning I will describe how to remote control of Roomba via bluetooth and Android app. Later I will show you how to run video streaming based on the RPi and finally I outline the plan for further development of this project.

Parts needed in this project:

  1. BTM-222 bluetooth module or other working at 115200 baud rate x1
  2. 5V Step-Down Voltage Regulator D24V6F5 x1
  3. mini breadboard x1
  4. A few wires

version with casing:

  1. 8 pin mini DIN connector x1
  2. power switch x1
  3. led 3 mm x1
  4. resistor 10k x1
  5. small casing 50x40x20 mm x1

extended version:

  1. Raspberry Pi 3 x1
  2. RPi copper heat sink x1
  3. USB WiFi adapter x1
  4. micro SD card 8GB or greater x1
  5. RPi camera - Fisheye Lens x1
  6. Case for RPi x1
  7. High capacity battery pack 5V (at least 10 Ah) x1
  8. A piece of plastic bracket x1
  9. Nuts and bolts M2 x4

Step 1: Connection of Electronic Parts

This time, this step is very simple because we only need to connect two modules to be able to control our Roomba. The first is a Bluetooth module that can operate at 115200 bps. The second is 5V Step-Down Voltage Regulator D24V6F5. Charged Roomba battery has a voltage of about 14.4V and our bluetooth module need 5V so we need to reduce battery voltage to the level of 5V using voltage regulator. The D24V6F5 regulator has efficiency between 80 and 90% that is very good value compared to classic linear regulators that typically have an efficiency below 40%. The easiest way to connect these two modules is putting them in mini breadboard and wiring according to the wiring diagram as above. In addition, all connections are shown in numbered photos. Be careful when connecting to the battery terminals. Accidental short circuit may damage the battery!

<p>Hi I was curious what Roomba series can I use for this instructable? </p>
<p>Hey, I need some help finding a good bluetooth module. I purchased a HC-06 module from ebay, and I while it connects to my phone just fine, it will not seem to talk to my roomba.</p>
<p>and BTM 222 (such as in the project) <a href="http://www.tme.eu/gb/details/atb-btm-222/bluetooth-modules/atnel/" rel="nofollow">http://www.tme.eu/gb/details/atb-btm-222/bluetooth-modules/atnel/</a></p>
<p>Hi,</p><p>The HC-05 and HC-06 seem to be unstable above 9600 bps. There are a number of bluetooth modules that can work with 115200 bps, for example: https://www.sparkfun.com/products/12577 </p>
<p>Great instructable! I also hacked my roomba once and was able to control it via Arduino over WiFi, but never completed that project... Main goal was to monitor my pets when I'm on vacation and also fix small issues (i.e. stuck feeder, etc. for which robotic arm would come in handy). That was long time ago, now portable routers got much more compact, I think I'll give it another try :)<br>BTW what is the purpose of the 5V battery pack? Roomba already provides power...</p>
<p>Thanks, You're right, one option is to use step-down voltage regulator with higher power and powering RPi from Roomba battery. However, in the next step, a small robotic arm will be supplied from this source and additional electrical load like RPi will quickly discharge the Roomba battery. </p>
great instructable! is there such a thinh as roomba racing?
<p>I haven't heard about Roomba racing contest, but it would be interesting especially for children https://www.youtube.com/watch?v=3SfTUV_xymA</p>
<p>cool</p>
<p>Thx</p>

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Bio: I'm an enthusiast of robotics :)
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