Robot App Store Developer Program
A. How to Program AR.Drone Remotely Over WIFI
B. How to Horizontally Calibrate AR.Drone
C. How to Make AR.Drone Take-Off or Land
D. How to Control AR.Drone Movements During Flight
E. How to Control AR.Drone LEDs
A. Introduction to NXT programming over Bluetooth
B. What Is a NXT Bluetooth Telegram
C. How to send commands to Lego NXT
D. NXT File Handling over Bluetooth- Introduction
E. NXT File Handling over Bluetooth- Create Files
F. NXT File Handling- Read Files
G. NXT File Handling- Write To Files
H. NXT File Handling- Save and Close
I. NXT File Handling- Delete Files
J. NXT File Handling- Search Files
K. How to Make Lego NXT to Play a Sound
L. NXT Pre- Defined Text to Speech
M. How to Control Lego NXT Motors
N. How to make LEGO NXT Drive
A. Introduction to Roomba Programming
B. How to Use a RealTerm Terminal
C. Serial Port Baud Rate Configuration
D. How to Send Commands to Roomba
E. What Are Roomba Modes?
F. How to Program Roomba to Drive
G. How to Program Roomba to Sing
H. How to program Roomba for .NET developers
How to create ROS MSG and ROS SRV and how to use them
How to use ROSserial
ROS explained for .NET Fans- Hight Level Architecture and Terminology Overview
ROS Installation for Windows Users
How to Program Roomba - RealTerm Terminal
We will take our first steps using RealTerm, a freeware terminal software, available from:
It’s a very simple program that can be useful when playing with Roomba’s SCI commands.
This freeware will scan for open ports in your computer, and once onnected, can send commands and receive data from your Roomba.
Make sure your Roomba is turned ON and the serial cable is connected or a Bluetooth device is paired with your computer before continuing.
New to the
serial port/ Bluetooth communication
? Please read
and learn how to configure your environment to send and receive SCI commands.
Make sure that your environment is configured properly before you continue.
RealTerm general settings
Open the RealTerm and go to the Port tab.
For iRobot Create, Roomba 4XX series and Dirt Dog, configure the Baud rate to 57,600.
For other iRobot products (series 5XX and 7XX) set the Baud rate to 115200.
Set the Parity to “None”,
the “Data Bits” to 8,
the “Stop Bits” to 1
and “Hardware Flow Control” to None.
The challenging part is to find the right port number. (Which represents the connection to the Roomba through cable or Bluetooth) we will use trial and error metod for now.
On a PC, you can use the device manager to see the active ports (Right click on the Computer icon -> Manage -> select System Tools-> Device Manager).
You can see from the example above that the following port numbers are active: 12, 13, 8, 9.
Return to the RealTerm configuration, and insert one of the port numbers in the port text box.
To test the connection - make sure the
button is pressed, and then press the
Now you can send commands to the port (go to Send tab), and check if Roomba is responding.
If you are connecting with a Bluetooth device - pay attention to the lower- right side of the screen shot below.
RealTerm status off
Repeat these steps (changing the port number, and click “Change”) until your status looks like the screen shot below if you are using a Bluetooth connector:
RealTerm status on
Alternatively, if you are using a Bluetooth device, you can simply open the devices and printers (on your PC), find your Bluetooth device-> right click and select its properties-> Hardware tab-> you can see in the Name section the port that the device uses:
Bluetooth device properties
Sending commands to Roomba
After we’ve found the port, go to the “Send” tab on RealTerm.
Insert the desired commands as numbers, and press "Send Numbers" button.
Your screen should look like this, and your Roomba should react to these commands.
RealTerm sending commands to Roomba
Let's move forward and
send commands to Roomba!
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