roombaDIYDockStation.ino

//IR signals
//161 0xA1  1010 0001 Force Field
//164 0xA4  1010 1000 Green Buoy (meaning Starboard, or Right)
//168 0xA8  1010 0100 Red Buoy (meaning Port, or Left)
//162 0xA2  1010 0011 Virtual Wall field (working with Roomba 650)
//

//Bit 0 - 1ms on, 3 ms off -___
//Bit 1 - 3ms on, 1 ms of ---_

//PINS
// 11 - to mosfet gate. I used 2N7000 mosfet. It switches LEDS ON/OFF at 38khz to generate carrier
// 5,6,7 - to IR LEDs
//
// 5 - field LED
// 6 - right LED (green buoy)
// 7 - left LED (red buoy)


int green[] = {1, 1, 1, 0   ,   1, 0, 0, 0 ,    1, 1, 1, 0   ,   1, 0, 0, 0 ,     1, 1, 1, 0  ,  1, 0, 0, 0 ,   1, 0, 0, 0 ,   1, 0, 0, 0  };
int red[] =   {1, 1, 1, 0   ,   1, 0, 0, 0 ,    1, 1, 1, 0   ,   1, 0, 0, 0 ,     1, 0, 0, 0  ,  1, 1, 1, 0 ,   1, 0, 0, 0 ,   1, 0, 0, 0  };
int field[] = {1, 1, 1, 0   ,   1, 0, 0, 0 ,    1, 1, 1, 0   ,   1, 0, 0, 0 ,     1, 0, 0, 0  ,  1, 0, 0, 0 ,   1, 1, 1, 0 ,   1, 1, 1, 0  }; //above one doesn't work with my roomba 650, but this one does



void setup() {
  pinMode(11, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(7, OUTPUT);


  // set up Timer 2 to generate 38khz carrier needed for IR reciever
  TCCR2A = _BV (COM2A0) | _BV(WGM21);  // CTC, toggle OC2A on Compare Match
  TCCR2B = _BV (CS20);   // No prescaler
  OCR2A =  209;          // compare A register value (210 * clock speed)
  //  = 13.125 nS , so frequency is 1 / (2 * 13.125) = 38095

  DDRD = DDRD | B11111100;// this is safer as it sets pins 2 to 7 as outputs
  // without changing the value of pins 0 & 1, which are RX & TX
}

void loop() {
  for (int i = 0; i < 32; i++)
  {
    byte b = 0;
    if (green[i] == 1)  b = b |  B10000000;
    if (red[i] == 1)    b = b |  B01000000;
    if (field[i] == 1)  b = b |  B00100000;
    PORTD = b;// sets digital pins 5,6,7
    delayMicroseconds(1000);
  }
  delay(100);
}