Here is a quick list of the devices available on the iRobot Create which you can control through the engine.
If you have a closer look at the
groups.u and aliases.u file distributed
with the URBI engine, you will see how theses devices are grouped and aliased
for direct and simpler access.
Table 3.1. Devices' characteristics
| Name | Type | Description |
|---|---|---|
| battery | Sensor | Battery status (charge, current...) |
| bumperL | Sensor | Left bumper |
| bumperR | Sensor | Right bumper |
| buttonA | Sensor | Advance button |
| buttonP | Sensor | Play button |
| cargobay | Sensor/Actor | Extra I/O |
| cliffL | Sensor | Left cliff sensor |
| cliffFL | Sensor | Front left cliff sensor |
| cliffFR | Sensor | Front right cliff sensor |
| cliffR | Sensor | Right cliff sensor |
| command | Actor | Command interface |
| ir | Sensor | Infra red receiver |
| ledAdvance | Actor | Advance button led |
| ledPlay | Actor | Play buttun led |
| ledPower | Actor | Power button led |
| lsd0 | Actor | Low Side Driver 0 |
| lsd1 | Actor | Low Side Driver 1 |
| lsd2 | Actor | Low Side Driver 2 |
| odometry | Sensor | Odometry wrapper |
| speaker | Actor | Robot speaker |
| virtualwall | Sensor | Virtual wall sensor |
| wall | Sensor | Wall sensor |
| wheelF | Actor | Front wheel |
| wheelL | Actor | Left wheel |
| wheelR | Actor | Right wheel |