Wifi remote control interface for the iRobot Roomba vacuum cleaner. Tested on model 880, others 600-900 have similar command set and probably will work too.
telnet to roomba IP while it is charging, it should display something like this:
telnet 192.168.0.2
Trying 192.168.0.2...
Connected to 192.168.0.2.
Escape character is '^]'.
bat: min 0 sec 10 mV 17061 mA 1016 tenths-deg-C 348 mAH 2696 state 5
bat: min 0 sec 11 mV 17061 mA 1016 tenths-deg-C 348 mAH 2696 state 5
bat: min 0 sec 12 mV 17061 mA 1008 tenths-deg-C 348 mAH 2696 state 5
bat: min 0 sec 13 mV 17061 mA 1023 tenths-deg-C 348 mAH 2696 state 5
To reset roomba to similar state like battery was replaced, type CTRL-G and ENTER. Roomba beeps and prints different messages after reset and again battery charging messages as above.
to exit telnet, type CTRL-] quit ENTER
^]
telnet> quit
python3 script to send "DOCK" command
#!/usr/bin/env python3
import socket
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect(("192.168.0.2",23))
#print(s.recv(256))
#s.send(bytearray([128, 135, 173])) # start, clean, stop
s.send(bytearray([128, 143, 173])) # start, seek dock, stop
s.close()
python3 script to shown 4 chars approximated on 7-segment display:
#!/usr/bin/env python3
import socket, sys, time
disp = sys.argv[1][0:4].encode() # max 4 chars
disp += b" " * (4-len(disp)) # pad length 4 with spaces
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect(("192.168.48.116",23))
s.send(bytearray([128, 131, 174])) # safe mode
time.sleep(0.05)
s.send(bytearray([164])+disp)
s.close()
./roomba.disp.py TEST
Other commands are described in iRobot Roomba 600 Open Interface Spec
Get nodemcu from ebay for $3.5 and flash it with some TCP-serial bridge code.
From Arduino install ESP8266 support from Boards Manager.
set board to "NodeMCU 1.0 (ESP-12E Module)".
open Examples -> ESP8266Wifi -> WifiTelnetToSerial
setup WiFi user and password to connect to local access point and enable "SWAP_PINS" to use hardware serial 115200,8,n,1 connected as RX=gpio13, TX=gpio15 to Roomba:
#define SWAP_PINS 1
To compile and write flash, click round blue button with right arrow.
When monitored at USB-serial port, it will print IP address where it connected.
Get 3.3V switching power supply module from ebay for $2:
2A DC 5V-23V to 3.3V DC-DC Step-Down Power Supply Buck Module for esp8266 WiFi
On the back of the module PCB is written:
Canton-Power
DC-DC
Step-Down Converter
3.3V[x] 5V[ ] Vi GND Vo
Adafruit has roomba cable. Also apple or mac 8-pin mini-din cable ordered from ebay will fit to roomba socket (it has extra middle pin which is NC in roomba socket).
pinout (wire colors inside of apple cable)
1 Vpwr red ? no voltage
2 Vpwr brown 20V
3 RXD orange input to roomba 5V TTL <- wifi_gpio15
4 TXD black output from roomba 5V TTL -> wifi_gpio13
5 DD yellow wifi_gpio12
6 GND green
7 GND blue
8 NC violet (middle pin)
SHIELD naked
same pin numbering to DB9 connector
You can order from OSHpark, seeedstudio or similar, email them gerber files and they will send back the PCB:
