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Technicus/create_2_Open_Interface

Created August 18, 2015 18:21
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create_2_Open_Interface
http://www.irobot.com/~/media/MainSite/PDFs/About/STEM/Create/create_2_Open_Interface_Spec.pdf
PWM Motors Opcode: 144 Data Bytes: 3
This command lets you control the speed of Roomba’s main brush, side brush, and vacuum
independently. With each data byte, you specify the duty cycle for the low side driver (max 128). For
example, if you want to control a motor with 25% of battery voltage, choose a duty cycle of 128 * 25%
= 32. The main brush and side brush can be run in either direction. The vacuum only runs forward.
Positive speeds turn the motor in its default (cleaning) direction. Default direction for the side brush is
counterclockwise. Default direction for the main brush/flapper is inward
.
Serial sequence: [144] [Main Brush PWM] [Side Brush PWM] [Vacuum PWM]
 Available in modes: Safe or Full
 Changes mode to: No Change
 Main Brush and Side Brush duty cycle (-127 – 127)
 Vacuum duty cycle (0 – 127)
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