DISCLAIMER: THIS WILL ONLY WORK IF THE ROOMBA IS SET UP IN A

VERY SPECIFIC WAY, THIS INSTRUCTABLE WAS CREATED FOR AND INTENDED TO BE USED BY UNIVERSITY OF TENNESSEE STUDENTS AND FACULTY

This code is used to set up a Roomba to run locally written and saved code in MATLAB. This will not work if you are unable to get the necessary libraries from the University of Tennessee website. If you have the libraries then you are able to use them to program your own Roomba using the functions in the library. This Instructable teaches you how to install the libraries, create a folder for all the code, and how to code and use the program we have provided down below.

Required Materials:

· Roomba

· MATLAB

· Raspberry Pi and Pi Camera

Step 1: Getting the Libraries

On the engineering website there is a toolbox/library provided, download it and place it into a new folder. This folder must contain all project work files as, any function used in a program you make will need to refer to the library. After you have done this you can begin working on your programs

Step 2: Writing the Programs

There are quite a few functions that can be used in the program, these functions can be accessed by using the command "doc roomba". Using these functions, you can control your Roomba in a lot of different ways. The code given below uses the bump sensors, light bar sensors, camera, and cliff sensors in different ways to create a mars rover. We used the bump sensors to detect when the Roomba hits an object, when this happens the robot will reverse, turn around, and continue to move. Before the Roomba hits an object, the light bar will detect the object and slow down the Roomba so that when it does bump into the object to activate the bump sensor the Roomba will be less damaged/affected by the impact. The camera searches for water or lava on the surface, if there is no liquid found then the robot will continue to search, if there is some water found then the robot will message the operators. The cliff sensors are designed to stop the robot if it approaches a cliff. If the robot senses a cliff it will reverse and turn around to avoid falling.

Step 3: Code

Copy and paste this into a MATLAB file that is located in the same folder as the libraries

function
MainRoombaFile(r)

r.setDriveVelocity(0.1,0.1)

while true % Infinte while loop to keep code running

dontFall = cliffCheck(r) % Assigns variable 'dontFall' to the function 'cliffCheck'

if dontFall % if statement to proceed in code after 'cliffCheck' is complete

r.setDriveVelocity(0.1,0.1) % Keeps Roomba moving after 'cliffCheck' is complete

end % ends 'dontFall' if statement

bumper=bumpcheck(r) % Assigns variable 'bumper' to the function 'bumpcheck'

if bumper % if statement to proceed in code after 'bumpcheck' is complete

r.setDriveVelocity(0.1,0.1) % Keeps Roomba moving after 'bumpcheck' is complete

end % ends 'bumper' if statement

liquids = LiquidCheck(r) % Assigns variable 'liquids' to the function 'LiquidCheck'

if liquids % if statement to proceed in code after 'LiquidCheck' is complete

r.setDriveVelocity(0.1,0.1) % Keeps Roomba moving after 'LiquidCheck' is complete

end % ends 'liquids' if statement

lightbumper=lightcheck(r) % Assigns variable 'lightbumper' to the function 'lightcheck'

pause(0.1) % Briefly pause to avoid continuous loop iteration

end % ends infinite while loop

end % ends function

function bumper=bumpcheck(r) % Creates 'bumpcheck' function

bumpdata= r.getBumpers % Assigns all data from the bumper to variable 'bumpdata'

bumper = bumpdata.right || bumpdata.left || bumpdata.front % Creates a stored variable, 'bumper', for the different bumpers

if bumpdata.right>0 % If statement to cause different functions of the roomba to happen if Bumper is bumped

r.stop % Stops Roomba

r.moveDistance(-0.3, 0.2) % Reverses Roomba 0.3m

r.turnAngle(90,0.5) % Rotates Roomba 90 degrees as fast as possible

end

if bumpdata.front>0

r.stop

r.moveDistance(-0.3, 0.2)

r.turnAngle(randi(270),0.5) % Rotates Roomba at a random interval between 0 and 270 degrees as fast as possible

end

if bumpdata.left>0

r.stop

r.moveDistance(-0.3, 0.2)

r.turnAngle(-90,0.5) % Rotates Roomba -90 degrees as fast as possible

end

function lightbumper=lightcheck(r) % Creates 'lightcheck' function

lightdata= r.getLightBumpers % Assigns all data from the light bump sensor to variable 'lightdata'

lightbumper = lightdata.left || lightdata.right || lightdata.rightCenter || lightdata.leftCenter % Creates a stored variable, 'lightbumper', for the different light bumpers

if lightbumper % If statement to call the lightbumper data from above

if lightdata.left>10 % If statement to cause different functions of the roomba to happen if the light bumper senses greater than 10 values

r.setDriveVelocity(0.05,0.05) % Slows down roomba to prepare for bump

end % ends initial if statement

if lightdata.rightCenter>10

r.setDriveVelocity(0.05,0.05)

end

if lightdata.right>10

r.setDriveVelocity(0.05,0.05)

end

if lightdata.leftCenter>10

r.setDriveVelocity(0.05,0.05)

end

end % ends 'lightbumper' if statement

end %ends lightcheck function

function dontFall = cliffCheck(r) % Creates 'cliffCheck' function

data = r.getCliffSensors; % Assigns all data from the cliff sensor to variable 'data'

dontFall = data.left<1020 || data.leftFront<1020 || data.rightFront<1020 || data.right<1020 % Creates a stored variable, 'dontFall', for the different cliff sensors

if dontFall % If statement to call the cliff sensor data from above

if data.left < 1010 % If statement to cause different functions of the roomba to happen if the cliff sensor senses less than 1010 values

r.stop

r.moveDistance(-0.2, 0.2) % Reverses Roomba 0.2m

r.turnAngle(-90,0.5) % Rotates Roomba -90 degrees as fast as possible

elseif data.leftFront < 1010

r.stop

r.moveDistance(-0.3, 0.2)

r.turnAngle(90,0.5) % Rotates Roomba 90 degrees as fast as possible

elseif data.rightFront < 1010

r.stop

r.moveDistance(-0.3, 0.2)

r.turnAngle(90,0.5) % Rotates Roomba 90 degrees as fast as possible

elseif data.right < 1010

r.stop

r.moveDistance(-0.3, 0.2)

r.turnAngle(90,0.5) % Rotates Roomba 90 degrees as fast as possible

end

function liquids = LiquidCheck(r) % Creates 'LiquidCheck' function

while true %start infinite loop for calibrating

img = r.getImage; % reads the camera off of the robot

image(img) % shows the image in a figure window

red_mean = mean(mean(img(200,150,1)))% reads the mean amount of red pixels

blue_mean = mean(mean(img(200,150,3)))% reads the mean amount of blue pixels

liquids = red_mean || blue_mean % Creates a stored variable, 'liquids', for the different color variables

if liquids % If statement to call the image data from above

if red_mean>170 % If statement to cause different functions of the roomba to happen if the camera sees a mean red color of greater than 170

r.stop % stops roomba

r.setLEDCenterColor(255) % sets circle to color red

r.setLEDDigits(); % clear the display

f = waitbar(0,'*INCOMING MESSAGE*'); % creates a waitbar for a loading message

r.setLEDDigits('HOT'); % sets LED display to output 'HOT'

pause(0.5) %Brief Pause to read information dispayed

r.setLEDDigits('LAVA'); % sets LED display to output 'LAVA'

pause(0.5)

waitbar(.33,f,'*INCOMING MESSAGE*'); %creates an increase in the waitbar

r.setLEDDigits('HOT');

pause(0.5)

r.setLEDDigits('LAVA');

pause(0.5)

waitbar(.67,f,'*INCOMING MESSAGE*'); % creates an increase in the waitbar

r.setLEDDigits('HOT');

pause(0.5)

r.setLEDDigits('LAVA');

waitbar(1,f,'*INCOMING MESSAGE*'); %completes the waitbar

pause(1)

close(f) %closes the waitbar

r.setLEDDigits(); % clears the LED display

close all %Closes all previous windows

axes('Color','none','XColor','none','YColor','none') % Clears the plot window of the axes and chart

y=0.5; % sets the y-position of the text in the plotting window

x=0.06; % sets the x-position of the text in the plotting window

title('FROM MARS ROOMBA','fontsize',32) % Adds a title to the plotting window

quadeqtxt = 'DANGER LAVA'; % Sets the variable 'quadeqtxt' to output 0

text(x,y,quadeqtxt,'interpreter','latex','fontsize',36); % displays the quadeq text in the plotting window

r.moveDistance(-0.2, 0.2) %reverses the roomba 0.2m

r.turnAngle(180,0.5) %turns the roomba 180 degrees as fast as possible

r.setLEDCenterColor(128,128); % sets the roomba center LED to orange

close all %closes remaining open windows

elseif blue_mean>175 % If statement to cause different functions of the roomba to happen if the camera sees a mean blue color of greater than 175

r.stop % stops roomba

r.setLEDCenterColor(255) % sets circle to color red

r.setLEDDigits(); % clear the display

f = waitbar(0,'*INCOMING MESSAGE*'); % creates a waitbar for a loading message

r.setLEDDigits('LOOK'); % sets LED display to output 'LOOK'

pause(0.5) %Brief Pause to read information dispayed

r.setLEDDigits('WATR'); % sets LED display to output 'WATR'

pause(0.5)

waitbar(.33,f,'*INCOMING MESSAGE*'); %creates an increase in the waitbar

r.setLEDDigits('LOOK');

pause(0.5)

r.setLEDDigits('WATR');

pause(0.5)

waitbar(.67,f,'*INCOMING MESSAGE*'); % creates an increase in the waitbar

r.setLEDDigits('LOOK');

pause(0.5)

r.setLEDDigits('WATR');

waitbar(1,f,'*INCOMING MESSAGE*'); %completes the waitbar

pause(1)

close(f) %closes the waitbar

r.setLEDDigits(); % clears the LED display

close all %Closes all previous windows

axes('Color','none','XColor','none','YColor','none') % Clears the plot window of the axes and chart

y=0.5; % sets the y-position of the text in the plotting window

x=0.06; % sets the x-position of the text in the plotting window

title('FROM MARS ROOMBA','fontsize',32) % Adds a title to the plotting window

quadeqtxt = 'FOUND WATER'; % Sets the variable 'quadeqtxt' to output 0

text(x,y,quadeqtxt,'interpreter','latex','fontsize',36); % displays the quadeq text in the plotting window

r.moveDistance(-0.2, 0.2) %reverses the roomba 0.2m

r.turnAngle(180,0.5) %turns the roomba 180 degrees as fast as possible

r.setLEDCenterColor(128,128); % sets the roomba center LED to orange

close all %closes remaining open windows

end %ends 'red_mean' if statement

end %ends 'liquids' if statement

end % closes infinite while loop

end % ends function 'LiquidCheck'

Step 4: Running the Code

After you have copied and pasted the code into MATLAB you must connect to the Roomba. Once the Roomba is connected you must name the variable r. The functions use the variable r when referring to the Roomba, so the Roomba must be defined as the variable r. After running the code the Roomba should run as instructed.