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RoombaDevBotArm

Development platform on a Roomba chasis, project circa 2012

I built this to learn and explore arduino, robotics, and had hoped to move into Android app development. The project stalled because of reasons, but if I pick it back up, I'll update the docs here.

The robot uses the following main components:

  • Roomba 4000 series
  • OWI robot arm
  • Arduino ADK
  • El cheapo USB Bluetooth adapter from eBay
  • Clone of Adafruit motor controller
  • PS3 controller
  • Random old Android phone (It was old in 2012)
  • This thing holds my phone on the controller so I can see an IP cam from the phone mounted on the robot: https://www.thingiverse.com/thing:45322

The PS3 controller controls the Roomba's movements and the arms movements. My phone is attached to the controller and views a feed from the phone mounted on the robot so I can see what the robot sees.

I needed the following libraries, who knows how 7 years of Arduino development has affect any of this code, or if any of this is even available.

It looks like my guide is still available, which you can find here: https://forum.arduino.cc/index.php?topic=137747.0 Sorry to those that came behind me, I didn't know there were people commenting on that post!

Unfinished business

  • Powering the robot's Android phone from the roomba
  • Configuring the Androind phone for automatice stop/start of the IPCam software
  • Get the pan/til mount operational. The motor controller board has 2 free servo control slots, so that's where I'm planning to hook them up.
  • Since the battery is now 7 years old, I'll need to replace the roomba's battery if I continue this project

Stretch goals that never happened

  • Pair the PS3 controller to the phone its mounted to
  • Establish network between the two phones to relay control and video
  • Establish USB communications between robot's Android phone to relay commands to Arduino etc.
  • Write a custom app for the phone mounted on the PS3 controller

Reflections and things I should have done

  • When I wired up the main power switch, I thought about making it the main battery switch. I decided against it. In retrospect, that woul dhave been helpful to keep the roomba from draining the battery while the robot sat on my desk and later my shelf.
  • It seems I was 3-5 years too early for USB libraries and enough Android support to do what I wanted. Android support for USB and OTG relaly picked up in 2014, and became cheap a few years after than.
  • Adafruit and some random mod on the Arduino were pretty dickish about the motor controller and offering any support for it. Apparently, it was enough friction that I stopped fooling around with Arduno, because this was my last Arduino project for many years. Not the only reason I faded out of this project, but it was enough of a sour taste in my mouth that I don't buy Adafruit parts unless I absolutely have to. That's a story for a beer, not a readme file though.