串行蓝牙至 Roomba iRobot
所以我可能做了一些非常愚蠢的事情，
我同意了一个通过蓝牙控制 Roomba 的项目。我认为一切都很好，但是，我不允许为终端系统使用计算机。
相反，我可以使用 Xilinx Virtex II Pro 板。
我的计划是购买一个蓝牙串行适配器，并购买 iRobot 配件来促进通信。我的希望是它会像通过串行端口发送消息一样困难（并且我不必处理太多的低级套接字编程，但如果必须的话我必须这样做）。
我的问题是，有人做过类似的事情吗？谁能推荐一个教程、网站或特定产品？
我打算买这些： http://store.irobot.com/product/index.jsp?productId=2649971
http://overlandresource.com/wp-content/gallery/images/bluetooth-serialconverter.png
有人可以推荐更好的东西吗？谁能告诉我我遇到了什么麻烦吗？真的，任何建议都会很好。
为了澄清这个项目必须采用 C 语言，并且 VHDL 作为 C 语言。
So I may have done something VERY foolish
I've agreed to a project where a Roomba is controlled via bluetooth. I thought everything was fine and dandy, BUT, I'm not allowed a computer for the end system.
Instead, I'm allowed a Xilinx Virtex II Pro board.
My plan is to buy a bluetooth serial adapter, and buy the iRobot accessory to foster the communication. My hope is that it'll be about as hard as sending messages over a serial port (and I won't have to deal with too much low level socket programming, but if I have to I have to).
My question is, has anyone done something similar to this? Can anyone recommend a tutorial, or a website or a specific product?
I'm aiming to buy these:
http://store.irobot.com/product/index.jsp?productId=2649971
http://overlandresource.com/wp-content/gallery/images/bluetooth-serialconverter.png
Can anyone recommend something better? Can anyone tell me what trouble I'm in for? Really, ANY advice would be nice.
To clarify this project has to be in C and VHDL as C.
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您几乎可以即插即用蓝牙模块，该模块将执行串行端口配置文件，例如它的外观和工作方式类似于串行端口，甚至可以与模块进行 RS-232 类型连接。
例如，我使用过 RoHS 规定的 RN-42 模块，效果非常好。我很确定还有其他人。
但是，您必须以某种方式对蓝牙连接的两端进行配对。可能需要一端知道另一端的固定引脚号。这将取决于您最终使用的模块。
也不要期望高波特率。
You can pretty much just plug and play a Bluetooth module that will do Serial Port Profile e.g. it looks and works like a serial port, even down to RS-232 type connections to the module.
For example, I've played with an RN-42 module by RoHS and it works pretty well. I am pretty sure there are others out there as well.
However, you will have to somehow pair the two ends of the Bluetooth connection. Might involve one end knowing the fixed pin number of the other end. That's going to be down to the modules you end up using.
Don't expect high baud rates either.
所以我希望我的回复还不算太晚，但是这里有一个很好的教程，它完全涵盖了您正在寻找的内容：
http://www.robotappstore.com/Knowledge-Base/1-Introduction-to-Roomba-Programming/15.html
它介绍 Roomba SCI 命令的设置、通信和基本使用。 Roomba 的优点在于，您可以使用任何您希望的语言来实际处理所有复杂的计算，然后只需将运动命令发送到 Roomba 即可。
控制 Roomba 非常简单，只是设置是最困难的部分。另一个烦人的事情是 Roomba 的命令不是纯 ASCII 字符，而是以字节形式发送。一旦你克服了这一点，那就轻而易举了。
希望这有帮助！
So I hope my response isn't too late, but a great tutorial that covers EXACTLY what you are looking for is here:
http://www.robotappstore.com/Knowledge-Base/1-Introduction-to-Roomba-Programming/15.html
It goes over the setup, communication, and basic use of the roomba SCI commands. What's great about the roomba is that you can use any sorta of lanugage you wish to actually handle all your complicated computing, and then just send down your motion commands to the roomba.
Controlling the roomba is pretty easy, just the setup is the most difficult part. The other annoying thing is that the roomba's commands are not in plain ASCII chars, but rather sent in byte form. Once you get over that, its a breeze though.
Hope this helps!