OI Mode of robot after exiting safe mode is 32 instead of 0-3

[carl....@livingmap.com]

Hello,

I'm trying to control my irobot create 2 with a raspberry pi. I've set up the serial connection and get it to drive around happily in safe mode.

However, when the robot hits a cliff or unexpectedly exits safe mode, the value given for its OI Mode becomes 32.

This is really confusing since the OI Manual says it should only ever by 0,1,2, or 3.

In addition, I cannot get it to revert to any other mode without completely rebooting everything.

Any ideas what's happening here? How can I get it to return to safe mode from whatever mode 32 is?

Thanks,
Carl

[Joe Lucia]

You should be able to initialize in FULL mode (132) instead of SAFE mode (131).  Safe Mode will produce the results you are seeing,allowing control but not allowing it to fall off a cliff.  FULL mode will allow it to fall off the cliff, unless You stop it by detecting the cliff-drop and stopping pragmatically.

Joe

Joe Lucia, CTO

ASI Communications, Inc. | www.ASICommunications.com
1042 E Guadalupe Rd, Tempe, AZ 85283
Phone 480-752-7115 | Fax 480-829-9290
Email J...@ASICommunications.com

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