Project Overview
In our project we are attempting to broaden the horizons in using the iRobot Create. We’ve had success in sending information between a computer and the Create using bluetooth. The program we use is written in Visual Basic.
The Idea
The BAM (Bluetooth Adapter Module) is plugged into the Create. Commands are sent as opcodes from the computer to the Create through Bluetooth Technology.
Here’s an example of the opcodes that are sent to the create. They tell the robot what actions to carry out.
The folowing is an example of our VB code. This is the forward command. An array is created that is filled with the opcodes that make the create move forward. The array is then sent to the serial port.
'------------------------------------------------
'--------------Move Commands---------------------
'------------------------------------------------
Private Sub Forward_Click()
Dim f(7) As Byte 'move forward array of 7 bytes
f(0) = 128
f(1) = 130
f(2) = 137
f(3) = 2
f(4) = 255
f(5) = 128
f(6) = 0
buffer = f
MSComm1.Output = buffer
The Create is also able to play musical notes. The following is the code for the timeless classic, Happy Birthday.
hb(0) = 128
hb(1) = 140
hb(2) = 0
hb(3) = 12
hb(4) = 60
hb(5) = 16
hb(6) = 60
hb(7) = 16
hb(8) = 62
hb(9) = 32
hb(10) = 60
hb(11) = 32
hb(12) = 65
hb(13) = 32
hb(14) = 64
hb(15) = 50
hb(16) = 60
hb(17) = 16
hb(18) = 60
hb(19) = 16
hb(20) = 62
hb(21) = 32
hb(22) = 60
hb(23) = 32
hb(24) = 67
hb(25) = 32
hb(26) = 65
hb(27) = 50
These are the notes to the song. The first byte is the note. The second byte is the length of the note.
