Thanks for looking into this. I used the hex view plugin and could send binary data, eg 128 as 0x80, and in hex that does indeed output that as 0x80 rather than sending ascii data. Apologies if I misunderstand the feature but I’m pretty sure it’s sending binary data as connecting the tx and rx pins does return me binary data when I send it using hex
I tried this, but I must have done something wrong because it’s not working. I need to check it.
And now with the new version of ESPHome I don’t want to update the code until there is a tested version.
You can’t just send the command. First you have to select proper operating mode, before Roomba can obey your commands. On startup it only sends out diagnostic messages and does not accept any commands except for mode change.
See documentation and source code in my repo:
For those in the near future I will share my findings here on how I got mine working.
substitutions:
### System variables ###
TipoPlaca: d1_mini
hostname: "hass-roomba" # Device hostname .local
PrefixoNome: "Roomba -"
id: "irobot"
RedeWifi: !secret wifi_ssid
SenhaWifi: !secret wifi_password
SenhaWifiReconfig: !secret wifi_password
EndConfig: "hass-roomba.local"
WifiOculto: 'False'
WifiFastConnect: 'True'
SenhaOTA: !secret ota_password # OTA update password
# ------------------------------ BRC pin, (RX/TX) pin, polling ms, wake up
init: 'RoombaComponent::instance(D5, id(uart_bus), 10000, true);'
esphome:
name: $hostname
comment: Roomba 870 IoT DIY integration
friendly_name: ${hostname}
includes:
- esphome-roomba/Roomba.h
platformio_options:
build_flags: -D HAVE_HWSERIAL0
esp8266:
board: ${TipoPlaca}
# Enable logging
logger:
hardware_uart: UART1
level: INFO
# Enable Home Assistant API
api:
encryption:
key: <your key here>
# Enable OTA updates
ota:
- platform: esphome
password: ${SenhaOTA}
wifi:
networks:
ssid: ${RedeWifi}
password: ${SenhaWifi}
hidden: ${WifiOculto}
fast_connect: ${WifiFastConnect}
use_address: ${EndConfig}
# Enable fallback hotspot (captive portal) in case wifi connection fails
ap:
ssid: "roomba-fallback"
password: ${SenhaWifiReconfig}
#Habilita um AP Wifi para reconfigurar em caso de perda de conexão com a rede configurada
captive_portal:
# Serial Port
uart:
id: uart_bus
tx_pin: GPIO1
rx_pin: GPIO3
baud_rate: 115200
# Wemos D1 LED to check status
status_led:
pin:
number: GPIO2
inverted: True
# Custom Roomba Component
external_components:
- source:
type: git
url: https://github.com/robertklep/esphome-custom-component
components: [ custom, custom_component ]
# Roomba custom sensors
time:
- platform: homeassistant
id: my_time
on_time:
- seconds: 0
minutes: 0
hours: 5
then:
- button.press: set_date
custom_component:
- lambda: |-
auto r = ${init}
return {r};
id: my_roomba
binary_sensor:
- platform: custom
lambda: |-
auto r = ${init}
return {r->vacuumSensor, r->virtualWallSensor, r->chargingSourcesSensor};
binary_sensors:
- name: "${PrefixoNome} Vacuum State"
id: "${id}_vacuum"
- name: "${PrefixoNome} Virtual Wall"
- name: "${PrefixoNome} Charging Source Available"
sensor:
- platform: wifi_signal
name: "${PrefixoNome} WiFi Signal"
update_interval: 60s
- platform: custom
lambda: |-
auto r = ${init}
return {r->voltageSensor, r->currentSensor, r->batteryChargeSensor, r->batteryCapacitySensor, r->batteryPercentSensor, r->batteryTemperatureSensor, r->driveSpeedSensor, r->rightMotorCurrentSensor, r->leftMotorCurrentSensor, r->mainBrushCurrentSensor, r->sideBrushCurrentSensor};
sensors:
- name: "${PrefixoNome} Voltage"
unit_of_measurement: "V"
icon: mdi:sine-wave
accuracy_decimals: 2
- name: "${PrefixoNome} Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 3
- name: "${PrefixoNome} Charge"
unit_of_measurement: "Ah"
icon: mdi:battery-charging
accuracy_decimals: 2
- name: "${PrefixoNome} Capacity"
unit_of_measurement: "Ah"
icon: mdi:battery
accuracy_decimals: 2
- name: "${PrefixoNome} Battery"
unit_of_measurement: "%"
state_class: "measurement"
device_class: battery
icon: mdi:battery-outline
accuracy_decimals: 0
- name: "${PrefixoNome} Temperature"
unit_of_measurement: "°C"
icon: mdi:thermometer
accuracy_decimals: 0
- name: "${PrefixoNome} Drive Speed"
unit_of_measurement: "mm/s"
accuracy_decimals: 0
- name: "${PrefixoNome} Right Motor Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
- name: "${PrefixoNome} Left Motor Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
- name: "${PrefixoNome} Main Brush Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
- name: "${PrefixoNome} Side Brush Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
text_sensor:
- platform: wifi_info
ip_address:
name: "${PrefixoNome} IP Address"
ssid:
name: "${PrefixoNome} SSID"
bssid:
name: "${PrefixoNome} BSSID"
mac_address:
name: "${PrefixoNome} MAC Address"
- platform: custom
lambda: |-
auto r = ${init}
return {r->chargingSensor, r->activitySensor, r->oiModeSensor, r->buttonsSensor};
text_sensors:
- name: "${PrefixoNome} Charging State"
- name: "${PrefixoNome} Activity"
- name: "${PrefixoNome} OI Mode"
id: "${id}_oi_mode"
- name: "${PrefixoNome} Pressed Button"
button:
- platform: restart
id: restart_button
name: "${PrefixoNome} Restart"
- platform: template
name: "${PrefixoNome} Clean"
id: clean
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("clean");
- platform: template
name: "${PrefixoNome} Max Clean"
id: max_clean
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("max_clean");
- platform: template
name: "${PrefixoNome} Dock"
id: dock
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("dock");
- platform: template
name: "${PrefixoNome} Stop"
id: stop
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("stop");
- platform: template
name: "${PrefixoNome} Wake Up"
id: wakeup
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("wakeup");
- platform: template
name: "${PrefixoNome} Wake Up on Dock"
id: wakeup_on_dock
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("wake_on_dock");
- platform: template
name: "${PrefixoNome} Sleep"
id: roomba_sleep
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("sleep");
- platform: template
name: "${PrefixoNome} Locate"
id: locate
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("locate");
- platform: template
name: "${PrefixoNome} Clean Spot"
id: clean_spot
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("clean_spot");
- platform: template
name: "${PrefixoNome} Forward"
id: go_forward
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_forward");
- platform: template
name: "${PrefixoNome} Full Speed"
id: go_max
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_max");
- platform: template
name: "${PrefixoNome} Go Faster"
id: go_faster
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_faster");
- platform: template
name: "${PrefixoNome} Go Slower"
id: go_slower
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_slower");
- platform: template
name: "${PrefixoNome} Turn Left"
id: go_left
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_left");
- platform: template
name: "${PrefixoNome} Turn Right"
id: go_right
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_right");
- platform: template
name: "${PrefixoNome} Stop Driving"
id: stop_driving
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("stop_driving");
- platform: template
name: "${PrefixoNome} Reverse"
id: go_reverse
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_reverse");
- platform: template
name: "${PrefixoNome} Rotate Left"
id: rotate_left
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("rotate_left");
- platform: template
name: "${PrefixoNome} Rotate Right"
id: rotate_right
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("rotate_right");
- platform: template
name: "${PrefixoNome} Restart Roomba"
id: restart_roomba
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("reset");
- platform: template
name: "${PrefixoNome} Poweroff Roomba"
id: poweroff_roomba
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("poweroff");
- platform: template
name: "${PrefixoNome} Set Date"
id: set_date
on_press:
then:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("set_date");
switch:
- platform: template
name: "${PrefixoNome} Vacuum"
lambda: |-
return id(${id}_vacuum).state;
turn_on_action:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("vacuum_on");
turn_off_action:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("vacuum_off");
- platform: template
name: "${PrefixoNome} Safe Mode"
lambda: |-
if (id(${id}_oi_mode).state == "safe") {
return true;
} else {
return false;
}
turn_on_action:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("safe");
turn_off_action:
- lambda: |-
static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("passive");
For hardware I am using a cheap generic buck converter to get the 3v3, a Wemos D1 Mini, 2N3906 to shift the level of the Roomba TX to ESP RX. Searching in this topic you can find the schematic from @wburgers at #165
Example of it working at the time of writing:
Can you also show your Roomba.h file? Thank you!
#include "esphome.h"
#define ROOMBA_READ_TIMEOUT 200
class RoombaComponent : public UARTDevice, public CustomAPIDevice, public PollingComponent {
public:
//Sensor *distanceSensor;
Sensor *voltageSensor;
Sensor *currentSensor;
Sensor *batteryChargeSensor;
Sensor *batteryCapacitySensor;
Sensor *batteryPercentSensor;
Sensor *batteryTemperatureSensor;
TextSensor *chargingSensor;
TextSensor *activitySensor;
Sensor *driveSpeedSensor;
TextSensor *oiModeSensor;
Sensor *rightMotorCurrentSensor;
Sensor *leftMotorCurrentSensor;
Sensor *mainBrushCurrentSensor;
Sensor *sideBrushCurrentSensor;
BinarySensor *vacuumSensor;
BinarySensor *virtualWallSensor;
BinarySensor *chargingSourcesSensor;
TextSensor *buttonsSensor;
static RoombaComponent* instance(uint8_t brcPin, UARTComponent *parent, uint32_t updateInterval, bool lazy650Enabled) {
static RoombaComponent* INSTANCE = new RoombaComponent(brcPin, parent, updateInterval, lazy650Enabled);
return INSTANCE;
}
void setup() override {
if (this->lazy650Enabled) {
// High-impedence on the BRC_PIN
// see https://github.com/johnboiles/esp-roomba-mqtt/commit/fa9af14376f740f366a9ecf4cb59dec2419deeb0#diff-34d21af3c614ea3cee120df276c9c4ae95053830d7f1d3deaf009a4625409ad2R140
pinMode(this->brcPin, INPUT);
} else {
pinMode(this->brcPin, OUTPUT);
digitalWrite(this->brcPin, HIGH);
}
register_service(&RoombaComponent::on_command, "command", {"command"});
}
void update() override {
if (this->lazy650Enabled) {
long now = millis();
// Wakeup the roomba at fixed intervals
if (now - lastWakeupTime > 50000) {
ESP_LOGD("roomba", "Time to wakeup");
lastWakeupTime = now;
if (!wasCleaning) {
if (wasDocked) {
wake_on_dock();
} else {
brc_wakeup();
}
} else {
brc_wakeup();
}
}
}
uint8_t charging;
uint16_t voltage;
int16_t current;
uint16_t batteryCharge;
uint16_t batteryCapacity;
int16_t batteryTemperature;
int16_t rightMotorCurrent;
int16_t leftMotorCurrent;
int16_t mainBrushCurrent;
int16_t sideBrushCurrent;
uint8_t virtualWall;
uint8_t chargingSources;
uint8_t buttons;
flush();
uint8_t sensors[] = {
SensorChargingState,
SensorVoltage,
SensorCurrent,
SensorBatteryCharge,
SensorBatteryCapacity,
SensorBatteryTemperature,
SensorOIMode,
SensorRightMotorCurrent,
SensorLeftMotorCurrent,
SensorMainBrushCurrent,
SensorSideBrushCurrent,
SensorVirtualWall,
SensorChargingSourcesAvailable,
SensorButtons,
};
uint8_t values[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
bool success = getSensorsList(sensors, sizeof(sensors), values, sizeof(values));
if (!success) {
ESP_LOGD("roomba", "Could not get sensor values from serial");
return;
}
charging = values[0];
voltage = values[1] * 256 + values[2];
current = values[3] * 256 + values[4];
batteryCharge = values[5] * 256 + values[6];
batteryCapacity = values[7] * 256 + values[8];
batteryTemperature = values[9];
std::string oiMode = get_oimode(values[10]);
rightMotorCurrent = values[11] * 256 + values[12];
leftMotorCurrent = values[13] * 256 + values[14];
mainBrushCurrent = values[15] * 256 + values[16];
sideBrushCurrent = values[17] * 256 + values[18];
virtualWall = values[19];
chargingSources = values[20];
buttons = values[21];
std::string activity = get_activity(charging, current);
wasCleaning = activity == "Cleaning";
wasDocked = activity == "Docked";
float voltageData = 0.001 * roundf(voltage * 100) / 100;
if (this->voltageSensor->state != voltageData) {
this->voltageSensor->publish_state(voltageData);
}
float currentData = 0.001 * roundf(current * 100) / 100;
if (this->currentSensor->state != currentData) {
this->currentSensor->publish_state(currentData);
}
float charge = 0.001 * roundf(batteryCharge * 100) / 100;
if (this->batteryChargeSensor->state != charge) {
this->batteryChargeSensor->publish_state(charge);
}
float capacity = 0.001 * roundf(batteryCapacity * 100) / 100;
if (this->batteryCapacitySensor->state != capacity) {
this->batteryCapacitySensor->publish_state(capacity);
}
float battery_level = 100.0 * ((1.0 * charge) / (1.0 * capacity));
if (this->batteryPercentSensor->state != battery_level) {
this->batteryPercentSensor->publish_state(battery_level);
}
if (this->batteryTemperatureSensor->state != batteryTemperature) {
this->batteryTemperatureSensor->publish_state(batteryTemperature);
}
if (this->chargingState != charging) {
this->chargingState = charging;
this->chargingSensor->publish_state(ToString(charging));
}
if (activity.compare(this->activitySensor->state) != 0) {
this->activitySensor->publish_state(activity);
}
if (this->driveSpeedSensor->state != this->speed) {
this->driveSpeedSensor->publish_state(this->speed);
}
if (oiMode.compare(this->oiModeSensor->state) != 0) {
this->oiModeSensor->publish_state(oiMode);
}
float rightMotorCurrentData = 0.001 * (rightMotorCurrent * 100) / 100;
if(this->rightMotorCurrentSensor->state != rightMotorCurrentData) {
this->rightMotorCurrentSensor->publish_state(rightMotorCurrentData);
}
float leftMotorCurrentData = 0.001 * (leftMotorCurrent * 100) / 100;
if(this->leftMotorCurrentSensor->state != leftMotorCurrentData) {
this->leftMotorCurrentSensor->publish_state(leftMotorCurrentData);
}
float mainBrushCurrentData = 0.001 * (mainBrushCurrent * 100) / 100;
if(this->mainBrushCurrentSensor->state != mainBrushCurrentData) {
this->mainBrushCurrentSensor->publish_state(mainBrushCurrentData);
}
float sideBrushCurrentData = 0.001 * (sideBrushCurrent * 100) / 100;
if(this->sideBrushCurrentSensor->state != sideBrushCurrentData) {
this->sideBrushCurrentSensor->publish_state(sideBrushCurrentData);
}
if (virtualWall == 1) {
this->virtualWallSensor->publish_state(true);
} else {
this->virtualWallSensor->publish_state(false);
}
if (chargingSources == 0) {
this->chargingSourcesSensor->publish_state(false);
} else {
this->chargingSourcesSensor->publish_state(true);
}
if (!wasDocked) {
if (buttons == 1) {
this->buttonsSensor->publish_state("Clean");
} else if (buttons == 2) {
this->buttonsSensor->publish_state("Spot");
} else if (buttons == 4) {
this->buttonsSensor->publish_state("Dock");
} else {
this->buttonsSensor->publish_state("None");
}
} else {
this->buttonsSensor->publish_state("None");
}
}
// this function can be called from the Roomba yaml file as
// static_cast< RoombaComponent*> (id(my_roomba).get_component(0))->send_command("go_forward");
void send_command(std::string command) {
on_command(command);
}
private:
uint8_t brcPin;
uint8_t chargingState;
int lastWakeupTime = 0;
bool wasCleaning = false;
bool wasDocked = false;
int16_t speed = 0;
bool lazy650Enabled = false;
RoombaComponent(uint8_t brcPin, UARTComponent *parent, uint32_t updateInterval, bool lazy650Enabled) : UARTDevice(parent), PollingComponent(updateInterval) {
this->brcPin = brcPin;
this->lazy650Enabled = lazy650Enabled;
this->voltageSensor = new Sensor();
this->currentSensor = new Sensor();
this->batteryChargeSensor = new Sensor();
this->batteryCapacitySensor = new Sensor();
this->batteryPercentSensor = new Sensor();
this->batteryTemperatureSensor = new Sensor();
this->rightMotorCurrentSensor = new Sensor();
this->leftMotorCurrentSensor = new Sensor();
this->mainBrushCurrentSensor = new Sensor();
this->sideBrushCurrentSensor = new Sensor();
this->chargingSensor = new TextSensor();
this->activitySensor = new TextSensor();
this->driveSpeedSensor = new Sensor();
this->oiModeSensor = new TextSensor();
this->vacuumSensor = new BinarySensor();
this->virtualWallSensor = new BinarySensor();
this->chargingSourcesSensor = new BinarySensor();
this->buttonsSensor = new TextSensor();
}
typedef enum {
Sensors7to26 = 0, //00
Sensors7to16 = 1, //01
Sensors17to20 = 2, //02
Sensors21to26 = 3, //03
Sensors27to34 = 4, //04
Sensors35to42 = 5, //05
Sensors7to42 = 6, //06
SensorBumpsAndWheelDrops = 7, //07
SensorWall = 8, //08
SensorCliffLeft = 9, //09
SensorCliffFrontLeft = 10, //0A
SensorCliffFrontRight = 11, //0B
SensorCliffRight = 12, //0C
SensorVirtualWall = 13, //0D
SensorOvercurrents = 14, //0E
//SensorUnused1 = 15, //0F
//SensorUnused2 = 16, //10
SensorIRByte = 17, //11
SensorButtons = 18, //12
SensorDistance = 19, //13
SensorAngle = 20, //14
SensorChargingState = 21, //15
SensorVoltage = 22, //16
SensorCurrent = 23, //17
SensorBatteryTemperature = 24, //18
SensorBatteryCharge = 25, //19
SensorBatteryCapacity = 26, //1A
SensorWallSignal = 27, //1B
SensoCliffLeftSignal = 28, //1C
SensoCliffFrontLeftSignal = 29, //1D
SensoCliffFrontRightSignal = 30, //1E
SensoCliffRightSignal = 31, //1F
SensorUserDigitalInputs = 32, //20
SensorUserAnalogInput = 33, //21
SensorChargingSourcesAvailable = 34, //22
SensorOIMode = 35, //23
SensorSongNumber = 36, //24
SensorSongPlaying = 37, //25
SensorNumberOfStreamPackets = 38, //26
SensorVelocity = 39, //27
SensorRadius = 40, //28
SensorRightVelocity = 41, //29
SensorLeftVelocity = 42, //2A
SensorLeftMotorCurrent = 54, //36
SensorRightMotorCurrent = 55, //37
SensorMainBrushCurrent = 56, //38
SensorSideBrushCurrent = 57, //39
} SensorCode;
typedef enum {
ChargeStateNotCharging = 0,
ChargeStateReconditioningCharging = 1,
ChargeStateFullCharging = 2,
ChargeStateTrickleCharging = 3,
ChargeStateWaiting = 4,
ChargeStateFault = 5,
} ChargeState;
typedef enum {
ResetCmd = 7, //07
PowerOffCmd = 133, //85
StartCmd = 128, //80
StopCmd = 173, //AD
SafeCmd = 131, //83
FullCmd = 132, //84
CleanCmd = 135, //87
MaxCleanCmd = 136, //88
SpotCmd = 134, //86
DockCmd = 143, //8F
PowerCmd = 133, //85
DriveCmd = 137, //89
MotorsCmd = 138, //8A
LEDAsciiCMD = 164, //A4
SongCmd = 140, //8C
PlayCmd = 141, //8D
SensorsListCmd = 149, //95
SetDateCmd = 168, //A8
} Commands;
void brc_wakeup() {
if (this->lazy650Enabled) {
ESP_LOGD("roomba", "brc_wakeup");
pinMode(this->brcPin, OUTPUT);
digitalWrite(this->brcPin, LOW);
delay(200);
pinMode(this->brcPin, OUTPUT);
delay(200);
start_oi(); // Start
} else {
digitalWrite(this->brcPin, LOW);
delay(1000);
digitalWrite(this->brcPin, HIGH);
delay(100);
}
}
void on_command(std::string command) {
if (command == "clean") {
clean();
} else if (command == "max_clean") {
maxClean();
} else if (command == "dock") {
displayString("DOCK");
dock();
} else if (command == "locate") {
locate();
displayString("LOC ");
} else if (command == "clean_spot") {
spot();
} else if (command == "stop") {
stop();
} else if (command == "wakeup") {
brc_wakeup();
} else if (command == "wake_on_dock") {
wake_on_dock();
} else if (command == "sleep") {
sleep();
} else if (command == "go_max") {
ESP_LOGI("roomba", "go max");
alter_speed(1000);
} else if (command == "go_forward") {
ESP_LOGI("roomba", "go forward");
this->speed = 200;
displayString("FWD ");
drive(this->speed, 0);
} else if (command == "go_reverse") {
ESP_LOGI("roomba", "go reverse");
this->speed = -200;
displayString("REV ");
drive(this->speed, 0);
} else if (command == "go_faster") {
ESP_LOGI("roomba", "go faster");
alter_speed(100);
} else if (command == "go_slower") {
ESP_LOGI("roomba", "slow it down");
alter_speed(-100);
} else if (command == "go_right") {
ESP_LOGI("roomba", "go right");
this->speed = 200;
displayString("RITE");
drive(this->speed, -250);
} else if (command == "go_left") {
ESP_LOGI("roomba", "go left");
this->speed = 200;
displayString("LEFT");
drive(this->speed, 250);
} else if (command == "rotate_right") {
ESP_LOGI("roomba", "rotate_right");
this->speed = 200;
displayString("ROTR");
drive(this->speed, 0xFFFF);
} else if (command == "rotate_left") {
ESP_LOGI("roomba", "rotate_left");
this->speed = 200;
displayString("ROTL");
drive(this->speed, 0x0001);
} else if (command == "stop_driving") {
ESP_LOGI("roomba", "STOP");
this->speed = 0;
displayString("STOP");
drive(0,0);
} else if (command == "drive" || command == "safe") {
ESP_LOGI("roomba", "DRIVE (Safe) mode");
this->speed = 0;
safeMode();
} else if (command == "passive") {
ESP_LOGI("roomba", "passive mode");
start_oi();
} else if (command == "vacuum_on") {
ESP_LOGI("roomba", "vacuum_on");
displayString("VAC ");
vacuum_on();
} else if (command == "vacuum_off") {
ESP_LOGI("roomba", "vacuum_off");
displayString("OFF ");
vacuum_off();
} else if (command == "reset") {
ESP_LOGI("roomba", "reset");
reset();
} else if (command == "poweroff") {
ESP_LOGI("roomba", "poweroff");
powerOff();
} else if (command == "set_date") {
ESP_LOGI("roomba", "set_date");
setDate();
} else {
ESP_LOGE("roomba", "unrecognized command %s", command.c_str());
}
//ESP_LOGI("roomba", "ACK %s", command.c_str());
}
void start_oi() {
write(StartCmd);
}
void reset() {
write(ResetCmd);
}
void powerOff() {
write(PowerOffCmd);
}
void locate() {
uint8_t song[] = {62, 12, 66, 12, 69, 12, 74, 36};
safeMode();
delay(500);
setSong(0, song, sizeof(song));
playSong(0);
}
void setSong(uint8_t songNumber, uint8_t data[], uint8_t len){
write(SongCmd);
write(songNumber);
write(len >> 1); // 2 bytes per note
write_array(data, len);
}
void playSong(uint8_t songNumber){
write(PlayCmd);
write(songNumber);
}
void vacuum_on() {
write(MotorsCmd);
write(7); // Main Brush on, Vacuum on, Side brush on
this->vacuumSensor->publish_state(true);
}
void vacuum_off() {
write(MotorsCmd);
write(0); // Main Brush off, Vacuum off, Side brush off
this->vacuumSensor->publish_state(false);
}
void displayString(std::string mystring){
write(LEDAsciiCMD);
uint8_t asciiValue0 = (int)mystring[0];
write(asciiValue0);
uint8_t asciiValue1 = (int)mystring[1];
write(asciiValue1);
uint8_t asciiValue2 = (int)mystring[2];
write(asciiValue2);
uint8_t asciiValue3 = (int)mystring[3];
write(asciiValue3);
delay(50);
}
void wake_on_dock() {
ESP_LOGD("roomba", "wake_on_dock");
brc_wakeup();
// Some black magic from @AndiTheBest to keep the Roomba awake on the dock
// See https://github.com/johnboiles/esp-roomba-mqtt/issues/3#issuecomment-402096638
delay(10);
write(CleanCmd); // Clean
delay(150);
write(DockCmd); // Dock
}
void alter_speed(int16_t step) {
int16_t speed = this->speed + step;
if (speed > 500)
speed = 500;
else if (speed < -500)
speed = -500;
this->speed = speed;
this->driveSpeedSensor->publish_state(speed);
this->drive(this->speed, 0);
}
void drive(int16_t velocity, int16_t radius) {
write(DriveCmd);
write((velocity & 0xff00) >> 8);
write(velocity & 0xff);
write((radius & 0xff00) >> 8);
write(radius & 0xff);
}
void safeMode() {
write(SafeCmd);
}
std::string get_oimode(uint8_t mode) {
switch(mode) {
case 0: return "off";
case 1: return "passive";
case 2: return "safe";
case 3: return "full";
default: return "unknown";
}
}
void clean() {
write(CleanCmd);
}
void maxClean() {
write(MaxCleanCmd);
}
void dock() {
write(DockCmd);
}
void spot() {
write(SpotCmd);
}
void stop() {
if (wasCleaning) {
write(CleanCmd);
}
}
void sleep() {
write(PowerCmd);
}
void flush() {
while (available())
{
read();
}
}
void setDate() {
auto time_component = id(my_time).now();
if (time_component.is_valid()) {
int day = (time_component.day_of_week) - 1;
int hour = time_component.hour;
int minute = time_component.minute;
ESP_LOGI("roomba", "Setting current time: %d %02d:%02d", day, hour, minute);
write(SetDateCmd);
delay(50);
write(day);
delay(50);
write(hour);
delay(50);
write(minute);
} else {
ESP_LOGI("roomba", "Time is not valid yet");
}
}
bool getSensorsList(uint8_t* packetIDs, uint8_t numPacketIDs, uint8_t* dest, uint8_t len){
write(SensorsListCmd);
write(numPacketIDs);
write_array(packetIDs, numPacketIDs);
return getData(dest, len);
}
bool getData(uint8_t* dest, uint8_t len) {
while (len-- > 0) {
unsigned long startTime = millis();
while (!available()) {
yield();
// Look for a timeout
if (millis() > startTime + ROOMBA_READ_TIMEOUT)
return false;
}
*dest++ = read();
}
return true;
}
std::string get_activity(uint8_t charging, int16_t current) {
bool isCharging = charging == ChargeStateReconditioningCharging || charging == ChargeStateFullCharging || charging == ChargeStateTrickleCharging;
if (current > -50)
return "Docked";
else if (isCharging)
return "Charging";
else if (current < -300)
return "Cleaning";
return "Lost";
}
inline const char* ToString(uint8_t chargeState) {
switch (chargeState) {
case ChargeStateNotCharging: return "Not Charging";
case ChargeStateReconditioningCharging: return "Reconditioning Charging";
case ChargeStateFullCharging: return "Full Charging";
case ChargeStateTrickleCharging: return "Trickle Charging";
case ChargeStateWaiting: return "Waiting";
case ChargeStateFault: return "Fault";
default: return "Unknown Charging State";
}
}
};
1 Like
Hello,
Does this still work on ESPHome version 2025.7.3?
Thank you.
Not completely as-is. You’ll either need a workaround to enable custom components as an external component (there is an example of someone doing that in this thread using GitHub - robertklep/esphome-custom-component: Brings back support for custom ESPHome components) or wrap the old custom component into its own external component.
Well, for those in the future, I am using the custom component as said above and the custom Roomba.h that I sent in my last message. Current running on ESPHome 2025.11.0 with some tweaks to my YAML file:
substitutions:
#(...)
init: 'RoombaComponent::instance(D5, id(uart_bus), 10000, true);'
esphome:
name: $hostname
comment: Roomba 870 IoT DIY integration
friendly_name: ${hostname}
includes:
- esphome-roomba/Roomba.h
platformio_options:
build_flags: -D HAVE_HWSERIAL0
#(...)
# Serial Port
uart:
id: uart_bus
tx_pin: GPIO1
rx_pin: GPIO3
baud_rate: 115200
# Custom Roomba Component
external_components:
- source:
type: git
url: https://github.com/robertklep/esphome-custom-component
components: [ custom, custom_component ]
custom_component:
- lambda: |-
auto r = ${init};
return {r};
components:
- id: my_roomba
binary_sensor:
- platform: custom
lambda: |-
auto r = ${init}
return {r->vacuumSensor, r->virtualWallSensor, r->chargingSourcesSensor};
binary_sensors:
- name: "${PrefixoNome} Vacuum State"
id: "${id}_vacuum"
- name: "${PrefixoNome} Virtual Wall"
- name: "${PrefixoNome} Charging Source Available"
sensor:
- platform: custom
lambda: |-
auto r = ${init}
return {r->voltageSensor, r->currentSensor, r->batteryChargeSensor, r->batteryCapacitySensor, r->batteryPercentSensor, r->batteryTemperatureSensor, r->driveSpeedSensor, r->rightMotorCurrentSensor, r->leftMotorCurrentSensor, r->mainBrushCurrentSensor, r->sideBrushCurrentSensor};
sensors:
- name: "${PrefixoNome} Voltage"
unit_of_measurement: "V"
icon: mdi:sine-wave
accuracy_decimals: 2
- name: "${PrefixoNome} Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 3
- name: "${PrefixoNome} Charge"
unit_of_measurement: "Ah"
icon: mdi:battery-charging
accuracy_decimals: 2
- name: "${PrefixoNome} Capacity"
unit_of_measurement: "Ah"
icon: mdi:battery
accuracy_decimals: 2
- name: "${PrefixoNome} Battery"
unit_of_measurement: "%"
state_class: "measurement"
device_class: battery
icon: mdi:battery-outline
accuracy_decimals: 0
- name: "${PrefixoNome} Temperature"
unit_of_measurement: "°C"
icon: mdi:thermometer
accuracy_decimals: 0
- name: "${PrefixoNome} Drive Speed"
unit_of_measurement: "mm/s"
accuracy_decimals: 0
- name: "${PrefixoNome} Right Motor Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
- name: "${PrefixoNome} Left Motor Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
- name: "${PrefixoNome} Main Brush Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
- name: "${PrefixoNome} Side Brush Current"
unit_of_measurement: "A"
icon: mdi:lightning-bolt
accuracy_decimals: 2
text_sensor:
- platform: custom
lambda: |-
auto r = ${init}
return {r->chargingSensor, r->activitySensor, r->oiModeSensor, r->buttonsSensor};
text_sensors:
- name: "${PrefixoNome} Charging State"
- name: "${PrefixoNome} Activity"
- name: "${PrefixoNome} OI Mode"
id: "${id}_oi_mode"
- name: "${PrefixoNome} Pressed Button"
button:
- platform: template
name: "${PrefixoNome} Clean"
id: clean
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("clean");
- platform: template
name: "${PrefixoNome} Max Clean"
id: max_clean
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("max_clean");
- platform: template
name: "${PrefixoNome} Dock"
id: dock
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("dock");
- platform: template
name: "${PrefixoNome} Stop"
id: stop
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("stop");
- platform: template
name: "${PrefixoNome} Wake Up"
id: wakeup
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("wakeup");
- platform: template
name: "${PrefixoNome} Wake Up on Dock"
id: wakeup_on_dock
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("wake_on_dock");
- platform: template
name: "${PrefixoNome} Sleep"
id: roomba_sleep
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("sleep");
- platform: template
name: "${PrefixoNome} Locate"
id: locate
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("locate");
- platform: template
name: "${PrefixoNome} Clean Spot"
id: clean_spot
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("clean_spot");
- platform: template
name: "${PrefixoNome} Forward"
id: go_forward
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("go_forward");
- platform: template
name: "${PrefixoNome} Full Speed"
id: go_max
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("go_max");
- platform: template
name: "${PrefixoNome} Go Faster"
id: go_faster
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("go_faster");
- platform: template
name: "${PrefixoNome} Go Slower"
id: go_slower
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("go_slower");
- platform: template
name: "${PrefixoNome} Turn Left"
id: go_left
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("go_left");
- platform: template
name: "${PrefixoNome} Turn Right"
id: go_right
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("go_right");
- platform: template
name: "${PrefixoNome} Stop Driving"
id: stop_driving
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("stop_driving");
- platform: template
name: "${PrefixoNome} Reverse"
id: go_reverse
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("go_reverse");
- platform: template
name: "${PrefixoNome} Rotate Left"
id: rotate_left
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("rotate_left");
- platform: template
name: "${PrefixoNome} Rotate Right"
id: rotate_right
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("rotate_right");
- platform: template
name: "${PrefixoNome} Restart Roomba"
id: restart_roomba
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("reset");
- platform: template
name: "${PrefixoNome} Poweroff Roomba"
id: poweroff_roomba
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("poweroff");
- platform: template
name: "${PrefixoNome} Set Date"
id: set_date
on_press:
then:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("set_date");
switch:
- platform: template
name: "${PrefixoNome} Vacuum"
lambda: |-
return id(${id}_vacuum).state;
turn_on_action:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("vacuum_on");
turn_off_action:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("vacuum_off");
- platform: template
name: "${PrefixoNome} Safe Mode"
lambda: |-
if (id(${id}_oi_mode).state == "safe") {
return true;
} else {
return false;
}
turn_on_action:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("safe");
turn_off_action:
- lambda: |-
auto roomba = static_cast<RoombaComponent*>(id(my_roomba));
roomba->send_command("passive");
*Note: just sharing the important part for the roomba, adapt to your implementation if you plan on using it
1 Like