Roomba.Sensors Class Reference

A convenience class for accessing Roomba's sensors. More...

Inheritance diagram for Roomba.Sensors:

Classes
class	Bump
	The state of the bump sensors: false = no bump, true = bump. More...
class	Button
	The state of the four Roomba buttons: false = button not pressed, true = button pressed. More...
class	Cliff
	The state of the cliff sensors: false = no cliff, true = cliff. More...
class	DirtDetector
	The current dirt detection level (0-255) of the dirt detector. Higher values indicate higher levels of dirt detected. More...
class	MotorOvercurrent
	The state of the five motors’ overcurrent sensors: false = no overcurrent, true = overcurrent. More...
class	Wheeldrop
	The state of the Wheeldrop sensors: false = wheel up, true = wheel dropped. More...

Public Member Functions
	Sensors (Robot _robot)
	The constructor.
void	Update (SensorPacket packet)
	Update the sensor state.
Public Member Functions inherited from Roomba.Component
	Component (Robot _robot)
	The constructor.

Public Attributes
Bump	Bumps
	Bump sensors.
Wheeldrop	Wheeldrops
	Wheeldrop sensors.
Cliff	Cliffs
	Cliff sensors.
MotorOvercurrent	MotorOvercurrents
	Motor Overcurrent sensors.
DirtDetector	DirtDetectors
	Dirt Detector sensors.
Button	Buttons
	Buttons.
Public Attributes inherited from Roomba.Component
bool	AutoUpdate = true
	Automatic update option for methods requesting more than one piece of information.

Properties
bool	Wall [get]
	The state of the wall sensor: false = no wall, true = wall.
bool	VirtualWall [get]
	The state of the virtual wall sensor: false = no wall, true = wall.
int	RemoteControlCommand [get]
	The command number of the remote control command currently being received by Roomba. A value of 255 indicates that no remote control command is being received.
int	Distance [get]
	The distance that Roomba has traveled in millimeters since the distance it was last requested. This is the same as the sum of the distance traveled by both wheels divided by two. Positive values indicate travel in the forward direction; negative in the reverse direction. If the value is not polled frequently enough, it will be capped at its minimum or maximum. (16 bit signed integer)
int	Angle [get]
	The angle that Roomba has turned through since the angle was last requested. The angle is expressed as the difference in the distance traveled by Roomba’s two wheels in millimeters, specifically the right wheel distance minus the left wheel distance, divided by two. This makes counter-clockwise angles positive and clockwise angles negative. This can be used to directly calculate the angle that Roomba has turned through since the last request. Since the distance between Roomba’s wheels is 258mm, the equations for calculating the angles in familiar units are: Angle in radians = (2 * difference) / 258 Angle in degrees = (360 * difference) / (258 * Pi). If the value is not polled frequently enough, it will be capped at its minimum or maximum. (16 bit signed integer)
ChargingState	ChargingState [get]
	Get charging state of the robot.
int	Voltage [get]
	The voltage of Roomba’s battery in millivolts (mV).
int	Current [get]
	The current in milliamps (mA) flowing into or out of Roomba’s battery. Negative currents indicate current is flowing out of the battery, as during normal running. Positive currents indicate current is flowing into the battery, as during charging.
int	Temperature [get]
	The temperature of Roomba’s battery in degrees Celsius.
int	Charge [get]
	The current charge of Roomba’s battery in milliamp-hours (mAh). The charge value decreases as the battery is depleted during running and increases when the battery is charged.
int	Capacity [get]
	The estimated charge capacity of Roomba’s battery. When the Charge value reaches the Capacity value, the battery is fully charged.

Additional Inherited Members
Protected Attributes inherited from Roomba.Component
Robot	robot
	The robot class, accessible by all dervied classes.

Detailed Description

A convenience class for accessing Roomba's sensors.

Constructor & Destructor Documentation

Roomba.Sensors.Sensors

(

Robot

_robot

)

The constructor.

Member Function Documentation

void Roomba.Sensors.Update

(

SensorPacket

packet

)

Update the sensor state.

Parameters

packet

Member Data Documentation

Bump Roomba.Sensors.Bumps

Bump sensors.

Button Roomba.Sensors.Buttons

Buttons.

Cliff Roomba.Sensors.Cliffs

Cliff sensors.

DirtDetector Roomba.Sensors.DirtDetectors

Dirt Detector sensors.

MotorOvercurrent Roomba.Sensors.MotorOvercurrents

Motor Overcurrent sensors.

Wheeldrop Roomba.Sensors.Wheeldrops

Wheeldrop sensors.

Property Documentation

int Roomba.Sensors.Angle

get

The angle that Roomba has turned through since the angle was last requested. The angle is expressed as the difference in the distance traveled by Roomba’s two wheels in millimeters, specifically the right wheel distance minus the left wheel distance, divided by two. This makes counter-clockwise angles positive and clockwise angles negative. This can be used to directly calculate the angle that Roomba has turned through since the last request. Since the distance between Roomba’s wheels is 258mm, the equations for calculating the angles in familiar units are: Angle in radians = (2 * difference) / 258 Angle in degrees = (360 * difference) / (258 * Pi). If the value is not polled frequently enough, it will be capped at its minimum or maximum. (16 bit signed integer)

int Roomba.Sensors.Capacity

get

The estimated charge capacity of Roomba’s battery. When the Charge value reaches the Capacity value, the battery is fully charged.

int Roomba.Sensors.Charge

get

The current charge of Roomba’s battery in milliamp-hours (mAh). The charge value decreases as the battery is depleted during running and increases when the battery is charged.

ChargingState Roomba.Sensors.ChargingState

get

Get charging state of the robot.

int Roomba.Sensors.Current

get

The current in milliamps (mA) flowing into or out of Roomba’s battery. Negative currents indicate current is flowing out of the battery, as during normal running. Positive currents indicate current is flowing into the battery, as during charging.

int Roomba.Sensors.Distance

get

The distance that Roomba has traveled in millimeters since the distance it was last requested. This is the same as the sum of the distance traveled by both wheels divided by two. Positive values indicate travel in the forward direction; negative in the reverse direction. If the value is not polled frequently enough, it will be capped at its minimum or maximum. (16 bit signed integer)

int Roomba.Sensors.RemoteControlCommand

get

The command number of the remote control command currently being received by Roomba. A value of 255 indicates that no remote control command is being received.

int Roomba.Sensors.Temperature

get

The temperature of Roomba’s battery in degrees Celsius.

bool Roomba.Sensors.VirtualWall

get

The state of the virtual wall sensor: false = no wall, true = wall.

int Roomba.Sensors.Voltage

get

The voltage of Roomba’s battery in millivolts (mV).

bool Roomba.Sensors.Wall

get

The state of the wall sensor: false = no wall, true = wall.

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The documentation for this class was generated from the following file:

• C:/Users/Greg/Documents/GitHub/RoboLib/src/Roomba.cs