I’ve merged both UART support and some black magic from good old johnboiles’ repo to avoid BRC pin issues on Roomba 650 (in order to prevent this model to fall into a deep sleep that can be interrupted only manually pressing the CLEAN button or with an ugly relay).
So far so good: after two weeks no issues.
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I don’t know how to check the model, i saw 601 on the bottom label
I used this step down MP1584EN
Hi @davidecavestro, I’m testing the latest version with UART refactor;
I can’t wake up the Roomba any more 
this is my EPSHome code:
init: 'RoombaComponent::instance(D4, id(uart_bus), 10000, true);'
....
uart:
id: uart_bus
tx_pin: TX
rx_pin: RX
baud_rate: 115200
# Enable logging
logger:
hardware_uart: UART1
Once I wake up the Roomba with physical button and the serial communication is initialized, I have all the telemetry
but when it goes in deep sleep
Do you have any suggestions?
I also would like to understand how to use the buttons. Can you explain to me how the commands are supposed to work? I see the code, but I don’t understand how to use it
I checked the fork by @Real-Time-Kodi
https://github.com/Real-Time-Kodi/ESPHomeRoombaComponent
and after swapping from private to public I’m able to send commands, but I’m not sure that’s the way to go
Thank you for your support
Regards
I use them this way …basically for fun 
passing the command name to the service. i.e. the following example is for using the paper-buttons widget (please note I renamed the roomba component to vacuum here so the service name became esphome.vacuum_command)
type: entities
entities:
- type: custom:paper-buttons-row
buttons:
- icon: mdi:chevron-up
tap_action:
action: call-service
service: esphome.vacuum_command
service_data:
command: go_faster
- type: custom:paper-buttons-row
buttons:
- icon: mdi:chevron-left
tap_action:
action: call-service
service: esphome.vacuum_command
service_data:
command: go_left
- icon: mdi:checkbox-blank-circle-outline
tap_action:
action: call-service
service: esphome.vacuum_command
service_data:
command: halt
hold_action:
action: call-service
service: esphome.vacuum_command
service_data:
command: drive
- icon: mdi:chevron-right
tap_action:
action: call-service
service: esphome.vacuum_command
service_data:
command: go_right
- type: custom:paper-buttons-row
buttons:
- icon: mdi:chevron-down
tap_action:
action: call-service
service: esphome.vacuum_command
service_data:
command: go_slower
hold_action:
action: call-service
service: esphome.vacuum_command
service_data:
command: halt
My Roomba model is 650, please check your.
I’ve experimented a bit and seen that this way - passing true to the 4th param just added - the controller actually prevents the Roomba to fall asleep, so the CLEAN button light is always on, the serial port active and all registers available. I must admit I’ve not tested it yet passing false as I was interested in the logic to prevent the deep sleep.
Probably this is not the best solution, though I’ve noticed no performance nor battery degradation so far (only 2 weeks testing as of now).
The original code comes from johnboiles repo, and for my vacuum it works, provided that the Roomba is awake at ESP boot time or you wake it up manually in order to let the ESP take control and prevent the deep sleep.
I must say most of the time my Roomba is on the dock - so I should test it more exhaustively - but at least the gathered data is consistent and it always reacts to commands.
PS: As of now I’ve put a 2N3906 transistor between the Roomba WRITE pin and the logical level shifter, as per Add wifi to an older roomba - #77 by Ecam315 and https://www.irobotweb.com/~/media/MainSite/PDFs/About/STEM/Create/Create_2_to_5V_Logic.pdf
So far it works fine thought I’m curious to check if I can completely skip the logic level shifter.
Thank you so much @davidecavestro,
I got it 
just in case if anyone would like to use it
as far I understood probably, I can remove the wakeup buttons (the first row)
type: vertical-stack
title: roomba-control
cards:
- type: horizontal-stack
cards:
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: wakeup
target: {}
icon: mdi:gesture-swipe-up
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: wake_on_dock
target: {}
icon: mdi:eject-circle
- type: horizontal-stack
cards:
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: start
target: {}
icon: mdi:arrow-right-drop-circle
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: stop
target: {}
icon: mdi:stop-circle
- type: horizontal-stack
cards:
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: spot
target: {}
icon: mdi:refresh-circle
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: dock
target: {}
icon: mdi:home-circle
- type: horizontal-stack
cards:
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: locate
target: {}
icon: mdi:bell-circle
- show_name: true
show_icon: true
type: button
tap_action:
action: call-service
service: esphome.roomba_control_command
data:
command: sleep
target: {}
icon: mdi:pause-circle
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Copy that. I see the same behavior
When the Roomba is on the dock, the CLEAN button light is always on, and the serial port is active
I don’t see the same once the Roomba IS NOT on the dock, the CLEAN button light is off, and the serial port goes passive (I guess)
I used the same schema
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@davidecavestro , do you think that I can remove the wakeup and wake-on-dock buttons? I think that if the Roomba is in deep sleep, they don’t work at all. correct?
If you want to configure the icon directly in the esp
- platform: custom
lambda: |-
auto r = ${init}
return {r->voltageSensor, r->currentSensor, r->batteryChargeSensor, r->batteryCapacitySensor, r->batteryPercentSensor, r->batteryTemperatureSensor, r->driveSpeedSensor};
sensors:
- name: "${friendly_name} distance"
unit_of_measurement: "mm"
icon: mdi:map-marker-distance
accuracy_decimals: 0
- name: "${friendly_name} voltage"
unit_of_measurement: "V"
icon: mdi:sine-wave
accuracy_decimals: 2
- name: "${friendly_name} current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 3
- name: "${friendly_name} charge"
unit_of_measurement: "Ah"
icon: mdi:battery-charging
accuracy_decimals: 2
- name: "${friendly_name} capacity"
unit_of_measurement: "Ah"
icon: mdi:battery
accuracy_decimals: 2
- name: "${friendly_name} battery"
unit_of_measurement: "%"
state_class: "measurement"
device_class: battery
icon: mdi:battery-outline
accuracy_decimals: 0
- name: "${friendly_name} temperature"
unit_of_measurement: "°C"
icon: mdi:thermometer
accuracy_decimals: 0
text_sensor:
- platform: custom
lambda: |-
auto r = ${init}
return {r->chargingSensor, r->activitySensor, r->oiModeSensor};
text_sensors:
- name: "${friendly_name} charging state"
icon: mdi:battery-charging-high
- name: "${friendly_name} activity"
icon: mdi:robot-vacuum-variant
- name: "${friendly_name} OI mode"
icon: mdi:steering
Hi folks,
Is the measure unit Ah or mAh?
do you know if the value requires “any filter”?, eg:
filters:
- median:
window_size: 7
send_every: 4
send_first_at: 3
- multiply: 0.001
I’ve not seen it in deep sleep so far with lazy650Enabled = true, as the brc_wakeup keeps it awake. OTOH I expect that if/when it reaches a deep sleep the only way to wake it up is pressing the physical buttons or with a relay under them, given that I consider deep sleep a machine state which completely turns off the serial port (including the BRC pin).
Yes, you already set it passing true as last costructor arg
But maybe there’s something wrong… you could also temporarily add some log here and there to check what’s going on, or even simply the value i.e.
if (lazy650Enabled) {ESP_LOGI("roomba", "lazy650Enabled is true");} or unconditionally simply passing the value as variable arg.
Please do share! I am interested in such tutorial.
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Specs talk about mA for current and mAh for charge/capacity, so raw values are translated to A/Ah. Also voltage is converted from mV to V.
Experimenting with filters is a good idea… removing translations from component code and leaving raw values flow, eventually manipulated at the filters stage, so that we can easily remove noise.
Hi,
as soon I add this sensor
- name: "${friendly_name} drive speed"
unit_of_measurement: "mm/s"
icon: mdi:speedometer
accuracy_decimals: 0
I lose the connection with the ESP, any idea?
I see this in the code
SensorSongNumber = 36, //24
SensorSongPlaying = 37, //25
Would it be possible to use it to play a song when I send the locate command?
void locate() {
write(141);
write(0);
}
I think that @Real-Time-Kodi did something similar…
else if (command == "locate"){
uint8_t song[] = {62, 12, 66, 12, 69, 12, 74, 36};
this->roomba.safeMode();
delay(500);
this->roomba.song(0, song, sizeof(song));
this->roomba.playSong(0);
//this->roomba.playSong(1);
