Functions
void	create3_audio_append (const Create3AudioNote *const notes, const unsigned count)

void	create3_audio_play (const Create3AudioNote *const notes, const unsigned count, const int overwrite)

void	create3_audio_overwrite (const Create3AudioNote *const notes, const unsigned count)

int	create3_connect ()

int	create3_connect_manual (const char *const host, const unsigned short port)

void	create3_dock ()

void	create3_drive_arc_degrees (const float radius, const float angle, const float max_linear_speed)

void	create3_drive_arc_radians (const float radius, const float angle, const float max_linear_speed)

void	create3_drive_straight (const float distance, const float max_linear_speed)

void	create3_execute_next_command_immediately ()

void	create3_execute_next_command_post_haste ()

void	create3_follow_wall (const Create3Follow follow, const float max_seconds)

int	create3_is_connected ()

void	create3_led_animation (const Create3LedAnimationType animation_type, const Create3Lightring lightring, const double max_runtime)

Create3LedColor	create3_led_color (const int r, const int g, const int b)

Create3Lightring	create3_lightring (const Create3LedColor led0, const Create3LedColor led1, const Create3LedColor led2, const Create3LedColor led3, const Create3LedColor led4, const Create3LedColor led5)

void	create3_lightring_set (const Create3Lightring lightring)

void	create3_navigate_to_pose (const Create3Pose pose, const float max_linear_speed, const float max_angular_speed, const int achieve_goal_heading)

void	create3_navigate_to_position (const double x, const double y, const float max_linear_speed, const float max_angular_speed)

void	create3_navigate_to_position_with_heading (const double x, const double y, const double theta, const float max_linear_speed, const float max_angular_speed)

Create3Odometry	create3_odometry_get ()

Create3Euler	create3_orientation_get_euler ()

double	create3_orientation_get_euler_x ()

double	create3_orientation_get_euler_y ()

double	create3_orientation_get_euler_z ()

Create3Quaternion	create3_orientation_get_quaternion ()

double	create3_orientation_get_quaternion_x ()

double	create3_orientation_get_quaternion_y ()

double	create3_orientation_get_quaternion_z ()

double	create3_orientation_get_quaternion_w ()

Create3Pose	create3_pose_get ()

void	create3_rotate_degrees (const float angle, const float max_angular_speed)

void	create3_rotate_radians (const float angle, const float max_angular_speed)

int	create3_sensor_bump (int sensor_id)

int	create3_sensor_cliff (int sensor_id)

int	create3_sensor_ir (int sensor_id)

void	create3_undock ()

Create3Twist	create3_velocity_get ()

double	create3_velocity_get_angular_z ()

double	create3_velocity_get_linear_x ()

void	create3_velocity_set (const Create3Twist twist)

void	create3_velocity_set_components (const double linear_x, const double angular_z)

void	create3_wait ()

Detailed Description

Function Documentation

◆ create3_audio_append()

void create3_audio_append	(	Create3AudioNote *	notes,
		unsigned	count
	)

Append the given audio to the current audio queue.

This is equivalent to calling `create3_audio_play(notes, count, 0)`

Parameters

[in]	notes	The notes to play.
[in]	count	The number of notes to play.

See also: create3_audio_play

◆ create3_audio_play()

void create3_audio_play	(	Create3AudioNote *	notes,
		unsigned	count,
		int	overwrite
	)

Play audio on the iRobot Create 3.

Parameters

[in]	notes	The notes to play.
[in]	count	The number of notes to play.
[in]	overwrite	1 to overwrite the current audio queue, 0 to append instead.

◆ create3_audio_overwrite()

void create3_audio_overwrite	(	Create3AudioNote *	notes,
		unsigned	count
	)

Overwrite the current audio queue with the given audio.

This is equivalent to calling `create3_audio_play(notes, count, 1)`

Parameters

[in]	notes	The notes to play.
[in]	count	The number of notes to play.
[in]	overwrite	1 to overwrite the current audio queue, 0 to append instead.

See also: create3_audio_play

◆ create3_connect()

int create3_connect ( )

Connect to the iRobot Create3.

This will connect to the iRobot Create 3 at if running on a Wombat with the Create connected to the Wombat. Alternatively this will also work if the server and client are on the same device

Returns: 1 if successful, 0 otherwise

◆ create3_connect_manual()

int create3_connect_manual	(	char *	host,
		short	port
	)

Connects to the iRobot Create 3.

This will connect to the iRobot Create 3 at the given host and port.

Parameters

[in]	host	The host to connect to.
[in]	port	The port to connect to.

Returns: 1 if connection succeeded, 0 if connection failed.

Example: `create3_connect_manual("192.168.125.1", 50051);` // Connect to the iRobot Create 3 on a dev computer connected to a Wombat running the client and a Wombat running the server.

◆ create3_dock()

void create3_dock ( )

Dock the iRobot Create 3 on the closest Home Base.

The iRobot Create 3 must be undocked to dock.

Example: `create3_dock();`

◆ create3_drive_arc_degrees()

void create3_drive_arc_degrees	(	float	radius,
		float	angle,
		float	max_linear_speed
	)

Drive the iRobot Create 3 in an arc.

The iRobot Create 3 will drive in an arc with the given radius and angle at the given maximum linear speed. A negative angle will drive the iRobot Create 3 clockwise and a positive angle will drive the iRobot Create 3 counter-clockwise.

Parameters

[in]	radius	The radius of the arc in meters.
[in]	angle	The angle of the arc in degrees.
[in]	max_linear_speed	The maximum linear speed in meters per second. Max with no safety overrides is 0.306 m/s.

Example: `create3_drive_arc_degrees(0.5, 90, 1.0);` // Drive in a 0.5 meter radius arc counter-clockwise for 90 degrees at 1 m/s.

◆ create3_drive_arc_radians()

void create3_drive_arc_radians	(	float	radius,
		float	angle,
		float	max_linear_speed
	)

Drive the iRobot Create 3 in an arc.

The iRobot Create 3 will drive in an arc with the given radius and angle at the given maximum linear speed. A negative angle will drive the iRobot Create 3 clockwise and a positive angle will drive the iRobot Create 3 counter-clockwise.

Parameters

[in]	radius	The radius of the arc in meters.
[in]	angle	The angle of the arc in radius.
[in]	max_linear_speed	The maximum linear speed in meters per second. Max with no safety overrides is 0.306 m/s.

Example: `create3_drive_arc_radians(0.5, 1.57, 1.0);` // Drive in a 0.5 meter radius arc counter-clockwise for PI/2 radians at 1 m/s.

◆ create3_drive_straight()

void create3_drive_straight	(	float	distance,
		float	max_linear_speed,
	)

Drive the iRobot Create 3 in a straight line.

The iRobot Create 3 will drive in a straight line for the given distance at the given maximum linear speed. A negative distance will drive the iRobot Create 3 backwards and a positive distance will drive the iRobot Create 3 forwards.

Parameters

[in]	distance	The distance to drive in meters.
[in]	max_linear_speed	The maximum linear speed in meters per second. Max with no safety overrides is 0.306 m/s.

Example: `create3_drive_straight(1.0, 0.5);` // Drive forward for 1 meter at 0.5 m/s.

Example: `create3_drive_straight(-1.0, 0.5);` // Drive backward for 1 meter at 0.5 m/s.

◆ create3_execute_next_command_immediately()

void create3_execute_next_command_immediately ( )

Execute the next command immediately.

This will execute the next command immediately instead of waiting for the last command to finish executing.

Example: `create3_drive_straight(1.0, 0.5);`; `create3_execute_next_command_immediately();`; `create3_drive_straight(-1.0, 0.5);`; `create3_wait();`

◆ create3_execute_next_command_post_haste()

void create3_execute_next_command_post_haste ( )

An alias for `create3_execute_next_command_immediately()`.

See also: create3_execute_next_command_immediately

◆ create3_follow_wall()

void create3_follow_wall	(	Create3Follow	follow,
		float	max_seconds
	)

Follow the given wall for the given amount of time.

The iRobot Create 3 will follow the given wall for the given amount of time at the given maximum linear speed. The iRobot Create 3 will stop when the given amount of time has elapsed.

Parameters

[in]	follow	The wall to follow. Either `Create3FollowLeft` or `Create3FollowRight`.
[in]	max_seconds	The maximum amount of time to follow the wall in seconds.

Example: `create3_follow_wall(Create3FollowLeft, 5.0);` // Follow the left wall for 5 seconds.

◆ create3_is_connected()

int create3_is_connected ( )

Check if the iRobot Create 3 is connected.

Returns: 1 if connection succeeded, 0 if connection failed.

◆ create3_led_animation()

void create3_led_animation	(	Create3LedAnimationType	animation_type
		Create3Lightring	lightring
		double	max_runtime
	)

Run the given LED animation on the iRobot Create 3.

This will run the given LED animation type and light ring colors on the iRobot Create 3 for the given amount of time.

Parameters

[in]	animation_type	The LED animation to run.
[in]	light_ring	The light ring to use for the LED animation.
[in]	max_runtime	The maximum amount of time to run the LED animation in seconds.

Example: struct Create3LedColor green;; green.r = 0;; green.g = 255;; green.b = 0;; struct Create3LightRing lightring;; light_ring.led0 = green;; light_ring.led1 = green;; light_ring.led2 = green;; light_ring.led3 = green;; light_ring.led4 = green;; light_ring.led5 = green;; create3_led_animation(Create3BlinkLights, lightring, 5.0); // Blink the lights green for 5 seconds.

◆ create3_led_color()

Create3LedColor create3_led_color	(	int	r
		int	g
		int	b
	)

Create an LED color from the given RGB values.

Parameters

[in]	r	The red value.
[in]	g	The green value.
[in]	b	The blue value.

Returns: The LED color.

◆ create3_lightring()

Create3Lightring create3_lightring	(	Create3LedColor	led0
		Create3LedColor	led1
		Create3LedColor	led2
		Create3LedColor	led3
		Create3LedColor	led4
		Create3LedColor	led5
	)

Create a light ring from the given LED colors.

Parameters

[in]	led0	The LED color for LED 0.
[in]	led1	The LED color for LED 1.
[in]	led2	The LED color for LED 2.
[in]	led3	The LED color for LED 3.
[in]	led4	The LED color for LED 4.
[in]	led5	The LED color for LED 5.

Example: struct Create3LedColor green;; green.r = 0;; green.g = 255;; green.b = 0;; struct Create3LightRing lightring;; lightring.led0 = green;; lightring.led1 = green;; lightring.led2 = green;; lightring.led3 = green;; lightring.led4 = green;; lightring.led5 = green;; create3_led_animation(Create3BlinkLights, lightring, 5.0); // Blink the lights green for 5 seconds.

◆ create3_lightring_set()

void create3_lightring_set ( Create3Lightring lightring )

Set the light ring of the iRobot Create 3.

This will set the light ring of the iRobot Create 3 to the given light ring colors.

Parameters

[in] lightring The light ring colors to set.

Example: struct Create3LedColor green;; green.r = 0;; green.g = 255;; green.b = 0;; struct Create3LightRing lightring;; lightring.led0 = green;; lightring.led1 = green;; lightring.led2 = green;; lightring.led3 = green;; lightring.led4 = green;; lightring.led5 = green;; create3_lightring_set(lightring); // Set the light ring to green.

◆ create3_navigate_to_pose()

void create3_navigate_to_pose	(	Create3Pose	pose
		float	max_linear_speed
		float	max_angular_speed
		int	achieve_goal_heading
	)

Navigate the iRobot Create 3 to the given pose.

The iRobot Create 3 will navigate to the given pose at the given maximum linear and angular speeds. The iRobot Create 3 will stop when it reaches the pose. The iRobot Create 3 will rotate in place to achieve the goal heading if `achieve_goal_heading` is 1.

Parameters

[in]	pose	The pose to navigate to. This contains a Vector3 for position and a Quaternion for orientation.
[in]	max_linear_speed	The maximum linear speed in meters per second. Max with no safety overrides is 0.306 m/s. Used to get to the vector position.
[in]	max_angular_speed	The maximum angular speed in radians per second. Max with no safety overrides is 2.64 rad/s. Used to get to the quaternion orientation.
[in]	achieve_goal_heading	1 to rotate in place to achieve the goal heading, 0 otherwise.

Example: Create3Pose pose;; pose.position.x = 1.0;; pose.position.y = 1.0;; pose.position.z = 0.0;; pose.orientation.x = 0.0;; pose.orientation.y = 0.0;; pose.orientation.z = 0.0;; pose.orientation.w = 1.0;; create3_navigate_to_pose(pose, 0.5, 1.0, 1); // Navigate to the given pose at 0.5 m/s and 1 rad/s and rotate in place to achieve the goal heading.

◆ create3_navigate_to_position()

void create3_navigate_to_position	(	double	x
		double	y
		float	max_linear_speed
		float	max_angular_speed
	)

Navigate the iRobot Create 3 to the given position.

The iRobot Create 3 will navigate to the given position at the given maximum linear and angular speeds. The iRobot Create 3 will stop when it reaches the position.

Parameters

[in]	x	The X component of the position to navigate to in meters.
[in]	y	The Y component of the position to navigate to in meters.
[in]	max_linear_speed	The maximum linear speed in meters per second. Max with no safety overrides is 0.306 m/s.
[in]	max_angular_speed	The maximum angular speed in radians per second. Max with no safety overrides is 2.64 rad/s.

Example: create3_navigate_to_position(1.0, 1.0, 0.5, 1.0); // Navigate to the given position at 0.5 m/s and 1 rad/s.`

◆ create3_navigate_to_position_with_heading()

void create3_navigate_to_position_with_heading	(	double	x,
		double	y,
		double	theta,
		float	max_linear_speed,
		float	max_angular_speed
	)

Navigate the iRobot Create 3 to the given position with the given heading.

The iRobot Create 3 will navigate to the given position at the given maximum linear and angular speeds. The iRobot Create 3 will stop when it reaches the position. The iRobot Create 3 will rotate in place to achieve the goal heading.

Parameters

[in]	x	The X component of the position to navigate to in meters.
[in]	y	The Y component of the position to navigate to in meters.
[in]	theta	The heading to achieve in radians.
[in]	max_linear_speed	The maximum linear speed in meters per second. Max with no safety overrides is 0.306 m/s.
[in]	max_angular_speed	The maximum angular speed in radians per second. Max with no safety overrides is 2.64 rad/s.

Example: create3_navigate_to_position_with_heading(1.0, 1.0, 0.0, 0.5, 1.0); // Navigate to the given position at 0.5 m/s and 1 rad/s and rotate in place to achieve the goal heading.

◆ create3_odometry_get()

Create3Odometry create3_odometry_get ( )

Get the odometry of the iRobot Create 3.

Returns: The odometry.

◆ create3_orientation_get_euler()

Create3Euler create3_orientation_get_euler ( )

Get the orientation (as Euler angles) of the iRobot Create 3.

Returns: The orientation as Euler angles.

◆ create3_orientation_get_euler_x()

double create3_orientation_get_euler_x ( )

Get the X component of the orientation (as Euler angles) of the iRobot Create 3.

This is equivalent to calling `create3_orientation_get_euler().x`.

Returns: The X component of the orientation as Euler angles.

See also: create3_orientation_get_euler

◆ create3_orientation_get_euler_y()

double create3_orientation_get_euler_y ( )

Get the Y component of the orientation (as Euler angles) of the iRobot Create 3.

This is equivalent to calling `create3_orientation_get_euler().y`.

Returns: The Y component of the orientation as Euler angles.

See also: create3_orientation_get_euler

◆ create3_orientation_get_euler_z()

double create3_orientation_get_euler_z ( )

Get the Z component of the orientation (as Euler angles) of the iRobot Create 3.

This is equivalent to calling `create3_orientation_get_euler().z`.

Returns: The Z component of the orientation as Euler angles.

See also: create3_orientation_get_euler

◆ create3_orientation_get_quaternion()

Create3Quaternion create3_orientation_get_quaternion ( )

Get the orientation (as a quaternion) of the iRobot Create 3.

Returns: The orientation as a quaternion.

◆ create3_orientation_get_quaternion_x()

double create3_orientation_get_quaternion_x ( )

Get the X component of the orientation (as a quaternion) of the iRobot Create 3.

This is equivalent to calling `create3_orientation_get_quaternion().x`.

Returns: The X component of the orientation as a quaternion

See also: create3_orientation_get_quaternion

◆ create3_orientation_get_quaternion_y()

double create3_orientation_get_quaternion_y ( )

Get the Y component of the orientation (as a quaternion) of the iRobot Create 3.

This is equivalent to calling `create3_orientation_get_quaternion().y`.

Returns: The Y component of the orientation as a quaternion

See also: create3_orientation_get_quaternion

◆ create3_orientation_get_quaternion_z()

double create3_orientation_get_quaternion_z ( )

Get the Z component of the orientation (as a quaternion) of the iRobot Create 3.

This is equivalent to calling `create3_orientation_get_quaternion().z`.

Returns: The Z component of the orientation as a quaternion

See also: create3_orientation_get_quaternion

◆ create3_orientation_get_quaternion_w()

double create3_orientation_get_quaternion_w ( )

Get the W component of the orientation (as a quaternion) of the iRobot Create 3.

This is equivalent to calling `create3_orientation_get_quaternion().w`.

Returns: The W component of the orientation as a quaternion

See also: create3_orientation_get_quaternion

◆ create3_pose_get()

Create3Pose create3_pose_get ( )

Get the pose of the iRobot Create 3.

Returns: The pose.

◆ create3_rotate_degrees()

void create3_rotate_degrees	(	float	angle,
		float	max_angular_speed
	)

Rotate the iRobot Create 3 in place.

The iRobot Create 3 will rotate in place for the given angle in degrees at the given maximum angular speed. A negative angle will rotate the iRobot Create 3 clockwise and a positive angle will rotate the iRobot Create 3 counter-clockwise.

Parameters

[in]	angle	The angle to rotate in degrees.
[in]	max_angular_speed	The maximum angular speed in degrees per second. Max with no safety overrides is 151 deg/s.

◆ create3_rotate_radians()

void create3_rotate_radians	(	float	angle,
		float	max_angular_speed
	)

Rotate the iRobot Create 3 in place.

The iRobot Create 3 will rotate in place for the given angle in radians at the given maximum angular speed. A negative angle will rotate the iRobot Create 3 clockwise and a positive angle will rotate the iRobot Create 3 counter-clockwise.

Parameters

[in]	angle	The angle to rotate in radians.
[in]	max_angular_speed	The maximum angular speed in radians per second. Max with no safety overrides is 2.64 rad/s.

◆ create3_sensor_bump()

int create3_sensor_bump ( int sensor_id )

Get the bump sensor value for given port.

Parameters

[in] sensor_id The port of the bump sensor

◆ create3_sensor_cliff()

int create3_sensor_cliff ( int sensor_id )

Get the cliff sensor value for given port.

Parameters

[in] sensor_id The port of the cliff sensor

◆ create3_sensor_ir()

int create3_sensor_ir ( int sensor_id )

Get the IR sensor value for given port.

Parameters

[in] sensor_id The port of the IR sensor

◆ create3_undock()

void create3_undock ( )

Undock the iRobot Create 3 from the Home Base.

The iRobot Create 3 must be docked to undock. When undocking the iRobot Create 3 will drive backwards and turn 180 degrees.

Example: create3_undock();

◆ create3_velocity_get()

Create3Twist create3_velocity_get ( )

Get the velocity of the iRobot Create 3.

This is equivalent to calling `create3_odometry_get().velocity`.

Returns: The velocity

See also: create3_odometry_get

◆ create3_velocity_get_angular_z()

double create3_velocity_get_angular_z ( )

Get the angular Z velocity of the iRobot Create 3.

This is equivalent to calling `create3_velocity_get().angular_z`.

Returns: The angular Z velocity in radians per second.

See also: create3_odometry_get

◆ create3_velocity_get_linear_x()

double create3_velocity_get_linear_x ( )

Get the linear X velocity of the iRobot Create 3.

This is equivalent to calling `create3_velocity_get().linear_x`.

Returns: The linear X velocity in meters per second.

See also: create3_velocity_get

◆ create3_velocity_set()

void create3_velocity_set ( Create3Twist twist )

Set the velocity of the iRobot Create 3.

Parameters

[in] twist The twist to set.

◆ create3_velocity_set_components()

void create3_velocity_set_components	(	double	linear_x,
		double	angular_z
	)

Set the velocity of the iRobot Create 3.

: This is equivalent to calling:; Create3Twist twist;; twist.linear_x = linear_x;; twist.angular_z = angular_z;; create3_velocity_set(twist);

Parameters

[in]	linear_x	The linear velocity in meters per second.
[in]	angular_z	The angular velocity in radians per second.

Example: create3_velocity_set(1.0, 2.0); // Set the velocity to 1 m/s forward and 2 rad/s counter-clockwise.

◆ create3_wait()

void create3_wait ( )

Wait for the last command to finish executing.

This will block until the last command has finished executing.

Example: create3_drive_straight(1.0, 0.5);; create3_wait();

Functions

Detailed Description

Function Documentation

◆ create3_audio_append()

◆ create3_audio_play()

◆ create3_audio_overwrite()

◆ create3_connect()

◆ create3_connect_manual()

◆ create3_dock()

◆ create3_drive_arc_degrees()

◆ create3_drive_arc_radians()

◆ create3_drive_straight()

◆ create3_execute_next_command_immediately()

◆ create3_execute_next_command_post_haste()

◆ create3_follow_wall()

◆ create3_is_connected()

◆ create3_led_animation()

◆ create3_led_color()

◆ create3_lightring()

◆ create3_lightring_set()

◆ create3_navigate_to_pose()

◆ create3_navigate_to_position()

◆ create3_navigate_to_position_with_heading()

◆ create3_odometry_get()

◆ create3_orientation_get_euler()

◆ create3_orientation_get_euler_x()

◆ create3_orientation_get_euler_y()

◆ create3_orientation_get_euler_z()

◆ create3_orientation_get_quaternion()

◆ create3_orientation_get_quaternion_x()

◆ create3_orientation_get_quaternion_y()

◆ create3_orientation_get_quaternion_z()

◆ create3_orientation_get_quaternion_w()

◆ create3_pose_get()

◆ create3_rotate_degrees()

◆ create3_rotate_radians()

◆ create3_sensor_bump()

◆ create3_sensor_cliff()

◆ create3_sensor_ir()

◆ create3_undock()

◆ create3_velocity_get()

◆ create3_velocity_get_angular_z()

◆ create3_velocity_get_linear_x()

◆ create3_velocity_set()

◆ create3_velocity_set_components()

◆ create3_wait()