{"id":697,"date":"2018-03-15T17:18:11","date_gmt":"2018-03-15T08:18:11","guid":{"rendered":"http:\/\/www.media.lab.uec.ac.jp\/?page_id=697"},"modified":"2020-07-08T10:44:23","modified_gmt":"2020-07-08T01:44:23","slug":"irobot-create2arduino-roomba","status":"publish","type":"page","link":"https:\/\/www.media.lab.uec.ac.jp\/?page_id=697","title":{"rendered":"iRobot create2 (Arduino-Roomba)"},"content":{"rendered":"\n<div class=\"twitter-share\"><a href=\"https:\/\/twitter.com\/intent\/tweet\" class=\"twitter-share-button\">\u30c4\u30a4\u30fc\u30c8<\/a><\/div>\n<h1><strong>create 2\u3092\u52d5\u304b\u3059\u65b9\u6cd5\u3068\u30a8\u30f3\u30b3\u30fc\u30c0\u30fc\u306e\u5024\u3092\u53d6\u5f97\u3059\u308b\u65b9\u6cd5\u306b\u3064\u3044\u3066\u307e\u3068\u3081\u308b\uff0e<\/strong><\/h1>\n<p>2017\u5e74\u5ea6\u306e\u30a2\u30eb\u30d0\u30a4\u30c8\u5b66\u751f\u3055\u3093\u304c\u307e\u3068\u3081\u3066\u304f\u308c\u305f\u5185\u5bb9\u3067\u3059\u3002\u9593\u9055\u3044\u7b49\u304c\u3042\u308b\u304b\u3082\u77e5\u308c\u307e\u305b\u3093\u3002\u304a\u6c17\u3065\u304d\u306e\u70b9\u304c\u3054\u3056\u3044\u307e\u3057\u305f\u3089\u3001\u3054\u9023\u7d61\u4e0b\u3055\u3044\u3002 <\/p>\n<h1>\u30eb\u30f3\u30d0\u306e\u30de\u30cb\u30e5\u30a2\u30eb<\/h1>\n<ul>\n<li><a href=\"http:\/\/www.irobotweb.com\/-\/media\/MainSite\/PDFs\/About\/STEM\/Create\/iRobot_Roomba_600_Open_Interface_Spec.pdf?la=en\">http:\/\/www.irobotweb.com\/-\/media\/MainSite\/PDFs\/About\/STEM\/Create\/iRobot_Roomba_600_Open_Interface_Spec.pdf?la=en<\/a><\/li>\n<li>\u3053\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u3092\u5143\u306b\u3057\u3066\u8aac\u660e\u3057\u3066\u3044\u304f\uff0e\u6700\u65b0\u7248\u306e\u30de\u30cb\u30e5\u30a2\u30eb\u304c\u3042\u308b\u304b\u78ba\u8a8d\u3059\u308b\u3053\u3068.<\/li>\n<\/ul>\n<h1>\u30b7\u30b9\u30c6\u30e0\u69cb\u6210<\/h1>\n<ul>\n<li>\n<p>\u4eca\u56de\u4f5c\u6210\u3057\u305f\u30b7\u30b9\u30c6\u30e0\u306f\u3053\u306e\u3088\u3046\u306b\u306a\u3063\u3066\u3044\u308b.<br \/>\n<a href=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2020\/07\/\u30eb\u30f3\u30cf\u3099\u8aac\u660e\u30a4\u30e9\u30b9\u30c8.png\"><img decoding=\"async\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2020\/07\/\u30eb\u30f3\u30cf\u3099\u8aac\u660e\u30a4\u30e9\u30b9\u30c8.png\" alt=\"\" \/><\/a><\/p>\n<\/li>\n<li>\n<p>\u57fa\u672c\u7684\u306a\u4ed5\u7d44\u307f\u3068\u3057\u3066\u306f\uff0carduino\u304c\u7279\u5b9a\u306e\u30c7\u30fc\u30bf\u3092\u30b7\u30ea\u30a2\u30eb\u901a\u4fe1\u3067\u30eb\u30f3\u30d0\u306b\u9001\u4fe1,\u305d\u306e\u5f8c\u30eb\u30f3\u30d0\u304c\u7279\u5b9a\u306e\u884c\u52d5\u3092\u3059\u308b(\u52d5\u3044\u305f\u308a\uff0c\u30bb\u30f3\u30b5\u30fc\u5024\u3092\u8fd4\u3057\u305f\u308a) <\/p>\n<\/li>\n<\/ul>\n<h1>\u8d77\u52d5\u3055\u305b\u308b<\/h1>\n<ul>\n<li>\n<p>\u30eb\u30f3\u30d0\u3092\u8d77\u52d5\u3059\u308b\uff0e<\/p>\n<ul>\n<li>\u771f\u3093\u4e2d\u306eCLEAN\u30dc\u30bf\u30f3\u3092\u62bc\u305b\u3070\u8d77\u52d5\u3059\u308b\uff0e<\/li>\n<li>\u3053\u306e\u6642\u30dc\u30bf\u30f3\u306e\u8272\u304c\u30aa\u30ec\u30f3\u30b8\u3060\u3063\u305f\u3089\u30d0\u30c3\u30c6\u30ea\u30fc\u304c\u5c11\u306a\u3044\uff0c\u8d64\u8272\u3060\u3063\u305f\u3089\u30d0\u30c3\u30c6\u30ea\u30fc\u304c\u7121\u3044\uff0e<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u30eb\u30f3\u30d0\u306b\u306f3\u3064\u306e\u30e2\u30fc\u30c9\u304c\u3042\u308b\uff0e\u30de\u30cb\u30e5\u30a2\u30eb7p\u306b\u3042\u308b\u3088\u3046\u306bpassive,safe,full mode\u304c\u3042\u308b\uff0e\u7c21\u5358\u306b\u8aac\u660e\u3059\u308b\u3068\u6b21\u306e\u3088\u3046\u306b\u306a\u308b\uff0e<\/p>\n<ul>\n<li>passive mode\n<ul>\n<li>\u30e2\u30fc\u30bf\u30fc\u3092\u5236\u5fa1\u3067\u304d\u306a\u3044\u304c\u30bb\u30f3\u30b5\u30fc\u306e\u5024\u306f\u898b\u308b\u3053\u3068\u304c\u3067\u304d\u308b. \u57fa\u672c\u3068\u306a\u308b\u30e2\u30fc\u30c9<\/li>\n<\/ul>\n<\/li>\n<li>safe mode\n<ul>\n<li>\u4eca\u56de\u3053\u306e\u30e2\u30fc\u30c9\u3067\u30eb\u30f3\u30d0\u3092\u5236\u5fa1\u3059\u308b. \u30bb\u30f3\u30b5\u30fc\u5024\u304c\u898b\u308c\u3066\u30e2\u30fc\u30bf\u30fc\u3082\u5236\u5fa1\u3067\u304d\u308b\uff0e\u3057\u304b\u3057safe\u3068\u3042\u308b\u3088\u3046\u306b\uff0c\u3042\u308b\u7a0b\u5ea6\u306e\u5b89\u5168\u88c5\u7f6e\u304c\u50cd\u304f\uff0e<\/li>\n<\/ul>\n<\/li>\n<li>full mode\n<ul>\n<li>safe mode\u306e\u5b89\u5168\u88c5\u7f6e\u3092\u7121\u304f\u3057\u305f\u3082\u306e<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h1>\u5145\u96fb\u3055\u305b\u308b<\/h1>\n<ul>\n<li>\n<p>\u30eb\u30f3\u30d0\u3092\u5145\u96fb\u3059\u308b\u3002<\/p>\n<\/li>\n<li>\n<p>\u30de\u30cb\u30e5\u30a2\u30eb7p\u3092\u3088\u304f\u8aad\u3080<\/p>\n<blockquote>\n<p>Note that charging terminates when you enter Safe Mode, and Roomba will not power save. Note that charging terminates when you enter Full Mode, and Roomba will not power save.<\/p>\n<\/blockquote>\n<\/li>\n<li>\n<p>\u3064\u307e\u308a\u30eb\u30f3\u30d0\u304csafe mode \u3068full mode\u306e\u3068\u304d\u306f\uff0c\u5145\u96fb\u30c9\u30c3\u30b0\u306b\u304a\u3044\u3066\u3082\u5145\u96fb\u3055\u308c\u306a\u3044\uff0e\u5145\u96fb\u3055\u305b\u308b\u306b\u306f\uff0cpassive mode\u306b\u5909\u66f4\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u30de\u30cb\u30e5\u30a2\u30ebp4, power saving\u306b\u3082\u540c\u69d8\u306e\u8a18\u8ff0\u304c\u3042\u308b.<\/p>\n<\/li>\n<li>\n<p>\u4e00\u756a\u7c21\u5358\u306bsafe mode \u304b\u3089passive mode\u306b\u5909\u66f4\u3059\u308b\u306b\u306f\uff0c\u30eb\u30f3\u30d0\u3092\u6301\u3061\u4e0a\u3052\u308c\u3070\u826f\u3044\uff0e\u5b89\u5168\u88c5\u7f6e\u304c\u50cd\u3044\u3066passive mode\u306b\u306a\u308b. <\/p>\n<\/li>\n<\/ul>\n<h1>arduino\u3068\u30eb\u30f3\u30d0\u306e\u63a5\u7d9a<\/h1>\n<ul>\n<li>\n<p>\u53c2\u8003[1]:<br \/>\n<a href=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2020\/07\/step3.jpg\"><img decoding=\"async\" src=\"https:\/\/www.media.lab.uec.ac.jp\/wp-content\/uploads\/2020\/07\/step3-700x464.jpg\" alt=\"\" \/><\/a><\/p>\n<\/li>\n<li>\n<p>\u3053\u308c\u3092\u53c2\u8003\u306b\u3057\u3066arduino\u3068\u30eb\u30f3\u30d0\u306e\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u3092\u3064\u306a\u3050\uff0e arduino\u3068\u30eb\u30f3\u30d0\u306f\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2\u30b7\u30ea\u30a2\u30eb\u3067\u901a\u4fe1\u3059\u308b\uff0e <\/p>\n<\/li>\n<li>\n<p>\u53c2\u8003[2]:<a href=\"http:\/\/www.musashinodenpa.com\/arduino\/ref\/index.php?f=1&amp;pos=92\">http:\/\/www.musashinodenpa.com\/arduino\/ref\/index.php?f=1&amp;pos=92<\/a><\/p>\n<\/li>\n<li>\n<p>\u30b7\u30ea\u30a2\u30eb\u30dd\u30fc\u30c8\u306b\u306fVpwr\u304c\u3042\u308b\u304c\uff0cunregulated\u3068\u306a\u3063\u3066\u3044\u308b(\u30de\u30cb\u30e5\u30a2\u30ebp3).<\/p>\n<\/li>\n<li>\n<p>\u30eb\u30f3\u30d0\u306e\u30d0\u30c3\u30c6\u30ea\u30fc\u72b6\u614b\u306b\u3088\u3063\u3066\u96fb\u5727\u304c\u5909\u52d5\u3059\u308b\uff0e24 ~ 4 v\u3050\u3089\u3044\u5909\u308f\u3063\u305f\u306f\u305a... \u30eb\u30f3\u30d0\u304b\u3089\u306e\u4f9b\u7d66\u96fb\u5727\u306b\u306f\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e<\/p>\n<\/li>\n<li>\n<p>\u30eb\u30f3\u30d0\u306e\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u30dc\u30fc\u30ec\u30fc\u30c8\u306f115200\u3067\u3042\u308b(\u30de\u30cb\u30e5\u30a2\u30eb4p). <\/p>\n<\/li>\n<li>\n<p>\u53c2\u8003[1]\u306b\u66f8\u3044\u3066\u3042\u308b<\/p>\n<blockquote>\n<p>iRobot Create 2 uses 115200 baud serial, by default. Unfortunately, any Arduino using an ATmega core cannot reliably reproduce 115200 baud. At 16 MHz, the best that an ATmega USART can do is either -3.5% or +2.1% error, which is not within spec (and it\u2019s even worse at 8MHz). Therefore, we recommend the use of a lower baud rate, like 19200 baud.<\/p>\n<\/blockquote>\n<\/li>\n<\/ul>\n<h1>\u30dc\u30fc\u30ec\u30fc\u30c8\u3092\u5909\u66f4<\/h1>\n<ul>\n<li>\u30dc\u30fc\u30ec\u30fc\u30c8\u3092\u5909\u66f4\u3055\u305b\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e<\/li>\n<\/ul>\n<pre><code class=\"language-c\">#include &lt;SoftwareSerial.h&gt;\nint rxPin = 10;\/\/rx\u306e\u30d4\u30f3\u756a\u53f7\nint txPin = 11;\/\/tx\u306e\u30d4\u30f3\u756a\u53f7\nint ddPin = 5; \/\/\u53c2\u8003[1]\u306eBRC\nSoftwareSerial Roomba(rxPin, txPin);\nvoid setup() {\n    Roomba.begin(115200);\/\/\u3068\u308a\u3042\u3048\u305a\u306f115200\u3067\u958b\u59cb\u3059\u308b\n}<\/code><\/pre>\n<pre><code class=\"language-c\">void wakeUp(void){ \n    \/\/\u8d77\u52d5\n    digitalWrite(ddPin, HIGH); \n    delay(100);\n    digitalWrite(ddPin, LOW);   \n    delay(500);\n    digitalWrite(ddPin, HIGH); \n    delay(2000);\n}\nvoid setup() { \n    Roomba.begin(115200);\n    wakeUp(); \/\/wake up Roomba } <\/code><\/pre>\n<ul>\n<li>\u30de\u30cb\u30e5\u30a2\u30ebp4, method2\u306b\u66f8\u3044\u3066\u3042\u308b\u901a\u308a\uff0c\u30dc\u30fc\u30ec\u30fc\u30c8\u309219200\u3059\u308b\u305f\u3081\u3067\u3042\u308b\u304c\u3046\u307e\u304f\u884c\u304b\u306a\u3044... \u3057\u3087\u3046\u304c\u306a\u3044\u304b\u3089,\u30de\u30cb\u30e5\u30a2\u30ebp9\u3092\u4f7f\u3063\u3066\u30dc\u30fc\u30ec\u30fc\u30c8\u3092\u5909\u3048\u308b\uff0e\n<pre><code class=\"language-c\">Roomba.begin(115200); Roomba.write(byte(129));\/\/change baud rate \nRoomba.write(5);\/\/9600\u306b\u5909\u66f4 \nRoomba.end();\/\/\u4e00\u5ea6\u304d\u308b \nRoomba.begin(9600);\/\/19200\u3067\u30b9\u30bf\u30fc\u30c8 \nSerial.println(roomba 9600 start); <\/code><\/pre>\n<\/li>\n<\/ul>\n<h1>safe mode\u306b\u5909\u66f4\u3059\u308b<\/h1>\n<pre><code class=\"language-c\">void startSafe(){ \/\/startmode\u306b\u79fb\u884c Roomba.write(128); \/\/start Roomba.write(131); \/\/safe mode delay(100);\/\/\u3068\u308a\u3042\u3048\u305a\u5165\u308c\u308b \/\/Serial.println(startsafe); } void setup() { Roomba.begin(115200); wakeUp(); \/\/wake up Roomba startSafe(); \/\/ start roomba in safe mode }<\/code><\/pre>\n<p>\u30e2\u30fc\u30bf\u30fc\u3092\u5236\u5fa1\u3057\u305f\u3044\u306e\u3067,safe mode\u306b\u3059\u308b\uff0e128\u3067\u30eb\u30f3\u30d0\u3092(\u8d77\u52d5\u3057\u3066\u3044\u306a\u3051\u308c\u3070)\u8d77\u52d5\u3057\u3066passive mode\u306b\u79fb\u308b\uff0e131\u3067passive mode \u304b\u3089 safe mode\u306b\u5909\u66f4\u3055\u305b\u308b\uff0e(\u30de\u30cb\u30e5\u30a2\u30ebp8,10)<\/p>\n<h1>passive mode\u306b\u5909\u66f4\u3055\u305b\u308b<\/h1>\n<pre><code class=\"language-c\">void startPassive(){ \/\/passivemode\u306b\u79fb\u884c \nRoomba.write(128); \/\/start \ndelay(100); \n}<\/code><\/pre>\n<ul>\n<li>128\u3092\u9001\u4fe1\u3059\u308b\u3060\u3051\u3067\u5341\u5206(\u30de\u30cb\u30e5\u30a2\u30ebp8) <\/li>\n<\/ul>\n<h1>\u30e2\u30fc\u30bf\u30fc\u3092\u5236\u5fa1\u3059\u308b<\/h1>\n<ul>\n<li>\u30de\u30cb\u30e5\u30a2\u30ebp13,14\u306b\u66f8\u3044\u3066\u3042\u308b\uff0e <\/li>\n<\/ul>\n<pre><code class=\"language-c\">unsigned int hex_convert_to8_high(int a){\n return (unsigned int)(a &gt;&gt; 8)&amp;0x00FF;\n };\nunsigned int hex_convert_to8_low(int a){\n return a^(hex_convert_to8_high(a) &lt;&lt; 8);\n };\nunsigned int hex_convert_to16(int a, int b){\n return (unsigned int)(a &lt;&lt; 8)|(int)(b);\n };<\/code><\/pre>\n<p>\u901f\u5ea6\u306f2byte\u306b\u5206\u3051\u3066\u9001\u3089\u306a\u3044\u3068\u3044\u3051\u306a\u3044.hex_convert_to8_high()\u3068hex_convert_to8_low()\u3092\u7528\u610f\u3057\u306616bit\u30928bit\u305a\u30641byte\u306b\u5206\u3051\u3066\u308b\uff0ehex_convert_to16()\u3067\u306f1byte\uff12\u3064\u30922byte\u306b\u3059\u308b\uff0e <\/p>\n<pre><code class=\"language-c\">void roomba_send_num(int num){ \/\/num\u3092\u4e8c\u3064\u306e8bit\u306b\u5909\u63db\u3057\u3066\u30eb\u30f3\u30d0\u306b\u9001\u4fe1 Roomba.write(hex_convert_to8_high(num)); Roomba.write(hex_convert_to8_low(num)); };<\/code><\/pre>\n<ul>\n<li>\n<p>\u3081\u3093\u3069\u304f\u3055\u3044\u306e\u3067\u3053\u306e\u3088\u3046\u306a\u95a2\u6570\u3092\u7528\u610f\u3057\u305f\uff0e<\/p>\n<pre><code class=\"language-c\">\nvoid roomba_drive_turn_counterclockwise(int num){ \/\/\u53cd\u6642\u8a08\u56de\u308a \u5f15\u6570\u306f\u901f\u3055\nRoomba.write(137);\nroomba_send_num(num); \/\/Velocity 100mm\/s\nroomba_send_num(1); \/\/Radius 1\n\/\/Serial.println(\"\u53cd\u6642\u8a08\u56de\u308a\");\ndelay(100);\n};<\/code><\/pre>\n<\/li>\n<\/ul>\n<p>void roomba_drive_turn_clockwise(int num){ \/\/\u6642\u8a08\u56de\u308a \u5f15\u6570\u306f\u901f\u3055<br \/>\nRoomba.write(137);<br \/>\nroomba_send_num(num); \/\/Velocity<br \/>\nroomba_send_num(-1); \/\/Radius<br \/>\n\/\/Serial.println(&quot;\u6642\u8a08\u56de\u308a&quot;);<br \/>\ndelay(100);<br \/>\n};<\/p>\n<p>void roomba_drive(int right, int left){ \/\/\u76f4\u9032\u3000\u5de6\u3068\u53f3\u306e\u30bf\u30a4\u30e4\u306e\u901f\u5ea6\u304c\u5f15\u6570<br \/>\nRoomba.write(145);<br \/>\nroomba_send_num(right); \/\/Velocity right<br \/>\nroomba_send_num(left); \/\/Velocity left<br \/>\n\/\/Serial.println(&quot;\u76f4\u9032&quot;);<br \/>\n\/\/delay(100);<br \/>\ndelay(10);<br \/>\n};<br \/>\nvoid roomba_drive_pwm(int right,int left){ \/\/pwm -255 ~ 255<br \/>\nRoomba.write(146);<br \/>\nroomba_send_num(right); \/\/pwm right<br \/>\nroomba_send_num(left); \/\/pwm left<br \/>\n\/\/Serial.println(&quot;pwm&quot;);<br \/>\ndelay(100);<br \/>\n};<\/p>\n<p>void roomba_moter_stop(){ \/\/\u30e2\u30fc\u30bf\u30fc\u3092\u6b62\u3081\u308b<br \/>\nRoomba.write(137);<br \/>\nroomba_send_num(0); \/\/Velocity 0mm\/s<br \/>\nroomba_send_num(0); \/\/Radius 0 \u901f\u5ea6\u304c0\u306a\u306e\u3067\u306a\u3093\u3067\u3082\u826f\u3044<br \/>\n\/\/Serial.println(&quot;\u30e2\u30fc\u30bf\u30fc\u3092\u6b62\u3081\u308b&quot;);<br \/>\ndelay(100);<br \/>\n};<\/p>\n<pre><code>\n- \u3061\u306a\u307f\u306b\u30eb\u30f3\u30d0\u306e\u6700\u5c0f\u901f\u5ea6\u306f11mm\/s\u3067\u3042\u308b\uff0e \n\n# \u30a8\u30f3\u30b3\u30fc\u30c0\u30fc\u306e\u8aad\u307f\u53d6\u308a\n\n- \u30de\u30cb\u30e5\u30a2\u30ebp30,31\u306b\u66f8\u3044\u3066\u3042\u308b\uff0e\u30eb\u30f3\u30d0\u304b\u3089\u306f1byte\u00d72\u8fd4\u3063\u3066\u304f\u308b. \n- \u5de6\u5074\u306e\u30bf\u30a4\u30e4\u306e\u30a8\u30f3\u30b3\u30fc\u30c0\u30fc\u306e\u5024\u3092\u30ea\u30af\u30a8\u30b9\u30c8\u3059\u308b\u306b\u306f142 43\u3092\u9001\u4fe1\u3059\u308c\u3070\u826f\u3044.\u53f3\u5074\u306e\u5834\u5408\u306f43\u309244\u306b\u3059\u308c\u3070\u826f\u3044\n\n```c\n\/\/left encoder \u3092\u30ea\u30af\u30a8\u30b9\u30c8\nRoomba.write(byte(142));\nRoomba.write(43); \/\/left 43 right 44<\/code><\/pre>\n<pre><code class=\"language-c\">\/\/encoder\u306e\u5024\u3092\u53d7\u4fe1\nenco_left_h = Roomba.read();\/\/high\nhigh enco_left_l = Roomba.read();\/\/low \nenco_left = hex_convert_to16(enco_left_h,enco_left_l); <\/code><\/pre>\n<ul>\n<li>\u30dc\u30fc\u30ec\u30fc\u30c8\u304c\u9ad8\u3044\u3068\uff0c\u30c7\u30fc\u30bf\u306b\u30ce\u30a4\u30ba\u304c\u5165\u3063\u3066\u3057\u307e\u3044\uff0c\u30a8\u30f3\u30b3\u30fc\u30c0\u30fc\u306e\u5024\u304c\u6b63\u3057\u304f\u8aad\u307f\u53d6\u308c\u306a\u3044\uff0e\u3057\u305f\u304c\u3063\u30669600\u306e\u3088\u3046\u306b\u4f4e\u304f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e<\/li>\n<\/ul>\n<h1>firmware\u306b\u3064\u3044\u3066<\/h1>\n<ul>\n<li>firmware \u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306b\u3088\u3063\u3066\u30d0\u30b0\u3042\u308b\u3089\u3057\u3044\u304c(\u30de\u30cb\u30e5\u30a2\u30ebp41)\uff0cfirmware\u3092\u30d0\u30fc\u30b8\u30e7\u30f3\u30a2\u30c3\u30d7\u3059\u308b\u65b9\u6cd5\u306f\u8abf\u3079\u305f\u9650\u308a\u306a\u3055\u305d\u3046...\n<ul>\n<li><a href=\"https:\/\/answers.ros.org\/question\/262720\/how-to-upgrade-irobot-create_2-firmware-to-326\/\">https:\/\/answers.ros.org\/question\/262720\/how-to-upgrade-irobot-create_2-firmware-to-326\/<\/a><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<h1>\u30cd\u30b8\u306b\u3064\u3044\u3066<\/h1>\n<ul>\n<li>\u30de\u30cb\u30e5\u30a2\u30ebp6\u306b\u30cd\u30b8\u306b\u3064\u3044\u3066\u66f8\u3044\u3066\u3042\u308b\uff0e\u30eb\u30f3\u30d0\u306b\u306f\u30cd\u30b8\u7a74\u304c\u3042\u308b\u304c\u305d\u308c\u3089\u306f\u72ec\u81ea\u30cd\u30b8\u3067\u3042\u308b\uff0e\u3057\u304b\u3057M3\u3092\u7121\u7406\u3084\u308a\u5165\u308c\u308c\u3070\u5165\u308b\uff0e <\/li>\n<\/ul>\n<h1>\u53c2\u8003\u8cc7\u6599<\/h1>\n<p>[1]<a href=\"http:\/\/www.instructables.com\/id\/Controlling-a-Roomba-Robot-With-Arduino-and-Androi\/\">http:\/\/www.instructables.com\/id\/Controlling-a-Roomba-Robot-With-Arduino-and-Androi\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>create 2\u3092\u52d5\u304b\u3059\u65b9\u6cd5\u3068\u30a8\u30f3\u30b3\u30fc\u30c0\u30fc\u306e\u5024\u3092\u53d6\u5f97\u3059\u308b\u65b9\u6cd5 <a class=\"more-link\" href=\"https:\/\/www.media.lab.uec.ac.jp\/?page_id=697\">\u7d9a\u304d\u3092\u8aad\u3080 &rarr;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":209,"menu_order":9,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_s2mail":"yes","_locale":"ja","_original_post":"697","footnotes":""},"class_list":["post-697","page","type-page","status-publish","hentry","ja"],"aioseo_notices":[],"_links":{"self":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/697","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=697"}],"version-history":[{"count":7,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/697\/revisions"}],"predecessor-version":[{"id":2293,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/697\/revisions\/2293"}],"up":[{"embeddable":true,"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=\/wp\/v2\/pages\/209"}],"wp:attachment":[{"href":"https:\/\/www.media.lab.uec.ac.jp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=697"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}