Drive an iRobot Create 

Open a connection to an iRobot Create serial device.

In[1]:=

X dev = DeviceOpen["Serial", "/dev/tty.ElementSerial-ElementSe"]

Out[1]=

Define a set of iRobot commands.

In[2]:=

X start = 128; fullMode = 132; ccw = {137, 1, 12, 0, 0}; turnAngle = {157, 0, 90}; drive = {137, 1, 12, 128, 0}; reverse = {137, 255, 2, 128, 0}; park = {137, 0, 0, 0, 0};

Send a "start" command followed by a "full mode on" command. This readies the robot for responding to drive commands.

In[3]:=

X DeviceWrite[dev, start];

In[4]:=

X DeviceWrite[dev, fullMode];

Send the robot a sequence of commands to turn counterclockwise through 90°, drive for five seconds, reverse itself, drive for five seconds, and finally stop.

In[5]:=

X DeviceWrite[dev, Join[ccw, turnAngle, drive]]; Pause[5]; DeviceWrite[dev, reverse] Pause[5]; DeviceWrite[dev, park];