On Sat, 27 Oct 2007, Paul Osmialowski wrote:
> Hello Roomba users,
> I'd like to ask you about problem that I'm experiencing with my roombas.
> Do you feel like the bumper readings are delayed too much? I've written
> little client-side program that drives roomba until the bumpers are
> pushed. The problem is that this program stops motors some time after
> Roomba hit the wall pushing the bumpers, so the robot is stopped by the
> wall but for some time the motors are still trying to move it forward.
> I'm trying to guess what may be the possible reason, but also I'd like to
> hear your opinion.
It's me again. I've realised that whole problem is caused by slow WiFi
link. I've reworked CVS version of the roomba driver (for upcoming Player
2.1): there's a new configuration option called 'bumplock'. When it's set
to 1, roomba will stop whenever any of bumpers is closed. Then it can only
move backward until bumpers are released. It works fine now and is best
compined with 'safe' option set to 0. The change is a part of a "Big
roomba patch" 1820854 on the Patch Tracker.