start from scratch

.gitignore

@@ -3,7 +3,7 @@ create_2_Open_Interface_Spec.txt
 
 
 
-
-.node_modules
+logs
+node_modules/
 .pio
-.vscode
+.vscode/

platformio.ini

@@ -2,8 +2,4 @@
 platform = espressif32
 board = esp32-s3-devkitc-1
 framework = arduino
-monitor_speed = 115200
-
-; Enable verbose FreeRTOS symbols in Arduino builds (optional but handy for demos)
-build_flags =
-    -DCORE_DEBUG_LEVEL=3
+monitor_speed = 115200

src/main.cpp

@@ -1,131 +0,0 @@
-#include <Arduino.h>
-
-// --- Hardware mapping -------------------------------------------------------
-// Adjust these pins to match how your level shifter connects the ESP32 to the Roomba.
-constexpr int ROBO_UART_RX = 16;        // ESP32 pin receiving Roomba TX (ROI pin 4).
-constexpr int ROBO_UART_TX = 17;        // ESP32 pin driving Roomba RX (ROI pin 3).
-constexpr gpio_num_t ROBO_BRC_PIN = GPIO_NUM_5;  // GPIO pulsing the BRC line (ROI pin 5).
-
-// FreeRTOS cadences (1 Hz pulse, 150 ms low to ensure Roomba notices).
-constexpr TickType_t BRC_PERIOD = pdMS_TO_TICKS(1000);
-constexpr TickType_t BRC_LOW_PULSE = pdMS_TO_TICKS(150);
-
-// Simple helper to send an Open Interface command over UART.
-void sendRoombaCommand(std::initializer_list<uint8_t> bytes) {
-  Serial1.write(bytes.begin(), bytes.size());
-  Serial1.flush();  // Ensure command clears the UART FIFO before proceeding.
-}
-
-void brcTask(void * /*parameter*/) {
-  TickType_t nextWake = xTaskGetTickCount();
-  uint32_t pulseCount = 0;
-
-  while (true) {
-    // Idle high, pulse low to reset the five-minute sleep timer.
-    Serial.printf("[BRC] Pulse #%lu: pulling low\n", static_cast<unsigned long>(pulseCount));
-    gpio_set_level(ROBO_BRC_PIN, 0);
-    vTaskDelay(BRC_LOW_PULSE);
-    gpio_set_level(ROBO_BRC_PIN, 1);
-    Serial.printf("[BRC] Pulse #%lu: released high\n", static_cast<unsigned long>(pulseCount));
-    pulseCount++;
-
-    vTaskDelayUntil(&nextWake, BRC_PERIOD);
-  }
-}
-
-void roombaTask(void * /*parameter*/) {
-  // Give the Roomba a moment after wake-up before issuing commands.
-  vTaskDelay(pdMS_TO_TICKS(500));
-
-  Serial.println("Sending Start (128)...");
-  sendRoombaCommand({128});  // Start OI -> Passive mode.
-  vTaskDelay(pdMS_TO_TICKS(100));
-
-  Serial.println("Switching to Safe mode (131)...");
-  sendRoombaCommand({131});  // Safe gives actuator control with failsafes.
-  vTaskDelay(pdMS_TO_TICKS(100));
-
-  Serial.println("Loading a short test song into slot 0 (Song, opcode 140)...");
-  // Song format: [140][song #][length][note][duration]...
-  // Duration units are 1/64ths of a second; 32 ≈ 0.5 s.
-  sendRoombaCommand({140, 0, 1, 69, 32});  // A4 for ~0.5 s.
-  vTaskDelay(pdMS_TO_TICKS(100));
-
-  Serial.println("Playing song 0 (Play, opcode 141)...");
-  sendRoombaCommand({141, 0});
-  vTaskDelay(pdMS_TO_TICKS(1500));  // Allow song to finish.
-
-  Serial.println("Initial song played. Roomba ready for bumper test.");
-
-  // Nothing else to do on this task; park it.
-  vTaskDelete(nullptr);
-}
-
-void sensorTask(void * /*parameter*/) {
-  constexpr TickType_t pollPeriod = pdMS_TO_TICKS(100);  // ~10 Hz polling.
-  TickType_t nextWake = xTaskGetTickCount();
-  bool bumperActive = false;
-
-  // Allow initialization commands to finish before polling.
-  vTaskDelay(pdMS_TO_TICKS(1000));
-
-  while (true) {
-    // Request packet 7 (Bumps & Wheel Drops).
-    sendRoombaCommand({142, 7});
-
-    uint8_t packet = 0;
-    const size_t received = Serial1.readBytes(&packet, 1);
-    if (received == 1) {
-      Serial.printf("[Sensor] Packet 7 raw byte: 0x%02X\n", packet);
-      const bool bumpRight = packet & 0b00000001;
-      const bool bumpLeft = packet & 0b00000010;
-      const bool wheelDropRight = packet & 0b00000100;
-      const bool wheelDropLeft = packet & 0b00001000;
-      const bool frontBump = bumpLeft || bumpRight;
-
-      if (wheelDropLeft || wheelDropRight) {
-        Serial.printf("[Sensor] Wheel drop detected (L:%d R:%d)\n",
-                      wheelDropLeft, wheelDropRight);
-      }
-      if (frontBump && !bumperActive) {
-        Serial.println("Front bumper hit! Playing song 0.");
-        sendRoombaCommand({141, 0});
-      }
-      if (!frontBump && bumperActive) {
-        Serial.println("Front bumper released.");
-      }
-      bumperActive = frontBump;
-    } else {
-      Serial.println("[Sensor] Timed out waiting for packet 7.");
-    }
-
-    vTaskDelayUntil(&nextWake, pollPeriod);
-  }
-}
-
-void setup() {
-  Serial.begin(115200);
-  while (!Serial && millis() < 2000) {
-    delay(10);
-  }
-  Serial.println("\nRoomba hardware smoke test starting...");
-
-  // Configure the BRC pin; keep it high (inactive) until the pulse task starts.
-  pinMode(static_cast<uint8_t>(ROBO_BRC_PIN), OUTPUT);
-  gpio_set_level(ROBO_BRC_PIN, 1);
-
-  // Initialize UART1 for the Roomba Open Interface at its default baud (115200 8N1).
-  Serial1.begin(115200, SERIAL_8N1, ROBO_UART_RX, ROBO_UART_TX);
-  Serial1.setTimeout(150);  // Enough headroom for sensor replies.
-  Serial.println("UART1 configured for Roomba at 115200 8N1.");
-
-  // Launch the tasks that drive the Roomba and keep it awake.
-  xTaskCreatePinnedToCore(brcTask, "BrcPulse", 2048, nullptr, 1, nullptr, APP_CPU_NUM);
-  xTaskCreatePinnedToCore(roombaTask, "RoombaInit", 4096, nullptr, 1, nullptr, APP_CPU_NUM);
-  xTaskCreatePinnedToCore(sensorTask, "SensorPoll", 4096, nullptr, 1, nullptr, APP_CPU_NUM);
-}
-
-void loop() {
-  // Nothing needed here; FreeRTOS tasks run everything.
-  vTaskDelay(pdMS_TO_TICKS(1000));
-}