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Add support for the original SCI protocol #25
This PR adds support for the original SCI protocol used by the Discovery and 400 series (though apparently not all of them) Roombas.
Since three robots are now supported, the existing system of specifying which model to use did not work that well. Therefore, I decided to create a new
I added a new
Like we talked about, I split the
I also had to emulate the mode retrieval and requested wheel velocities because they are not supported in
I found that the odometry on my Roomba 400 is much better than on my Create because the angle field is implemented as "the right wheel distance minus the left wheel
I tested this on my Roomba and my Create, but there is a possibility that I broke the odometry on the Create 2, so I would recommend testing it.
Let me know what you think. I will have a PR for create_autonomy soon that supports these changes.