#Wirelessly-controlled iRobot Roomba using an Arduino
Control the movement of an iRobot Roomba using any device on the same WiFi connection. Roomba is connected to an Arduino Uno with WiShield that connects to the internet. Once a telnet connection with the Arduino is established, you can control the Roomba's movements without the hassle of cables! Controls are defined according to the standard WASD key combination.
##Video A short video of the functioning setup can be seen on youtube.
##Applications
- Bomb diffusal, or related applications, where human presence is not desired and you wish the robot to take the chance.
- Hotels: Drive a room service delivery cart
- Hospitals: Carry supplies to patient's room
- Home security robot [with camera streaming capability]
With further enhancements, like the addition of camera streaming or a robotic arm on the roomba, this device can have significantly important industrial usage.
##Circuit
- Arduino Uno
- WiShield
- iRobot Roomba with Create module
##Software
I used Arduino IDE 1.6.4 on MacOS. The Arduino code, to my knowledge, would remain the same across platforms.
For connecting wirelessly with the Arduino/Roomba, I used telnet on Terminal in MacOS.
##Connections
- The WiShield attaches directly on top of the Arduino Uno.
- Make sure not to use pins 10, 11 or 12. These are already used.
- Create Pin 8 drives the signal at 5V. This is needed.
- To make the setup truly mobile, once the Arduino has been programmed from a computer, powered it using a 9V battery.
###Pin Connections
| Arduino | Create |
|---|---|
| Pin 8 | Pin 2 |
| Pin 9 | Pin 1 |
| Vin | Pin 8 |
| GND | Pin 14 |
##Instructions
- Make sure Roomba is turned off.
- Compile this sketch and run the Serial monitor. Arduino, with WiShield, attempts to connect to the specified WiFi network and gets an IP address. Note: At this point, Arduino and your PC can be disconnected.
- Telnet to your device's IP address displayed on the Serial Monitor in the Arduino IDE.
- Turn on Roomba. Press '? [return]' to check availability.
- Press r to send commands to establish Arduino's connection with Roomba.
- Play!
##Controls
| Key | Direction |
|---|---|
| w | forward |
| s | backward |
| a | left |
| d | right |
| q | stop |
##Note This example is written for a network using WPA encryption. For WEP or WPA, change the Wifi.begin() call accordingly.
##License This project is released as an open source project under The MIT License.
Copyright (C) 2015 Shobhit Garg. All rights reserved.