Roomba’s Behaviors

Remember, you are pretending that you are computors and your sensors turn on when the beep sounds - NOTHING that happens before the beep is relevant to the behavior you record.   If a behavior begins after a beep, but isn't completed, your sensors reset, and you begin watching for the next behavior that Rooma initiates.  This resetting applies to the behvior, of course, and quadrant variables.

Quadrant-  where Roomba's eye spot is located at the beginning of whatever behavior you record
Spiral- at least a 90 degree rotation while moving outward

Spin- at least a 360 degree stationary rotation

Right turn- ≥ 45 degrees and < 360 degrees to the right

Left turn- ≥ 45 degrees and < 360 degrees to the left

Forward Movement- movement forward without the presence of any other

behaviors (i.e. turning or edge following) for at least two

Edge Following (in general)- moves parallel along a wall or edge for 2 or more seconds with in 3. 8 cm (double the eye spot) of the wall or edge

- See below for classification of Straight Edge Following & “Shimmying” Edge Following

Behaviors Coded to Record on Data Sheet

1L – Spiral left

1R - Spiral Right

2L – Spin Left

2R – Spin Right

3L - Left Turn

3R - Right Turn

4- Forward Movement

5L – Straight Edge Following along the left side of Roomba

5R- Straight Edge Following – along the right side of Roomba

6L- “Shimmying”/ bumping Edge Following- along left side of Roomba

6R- “Shimmying”/ bumping Edge Following- along right side of Roomba

Remember, the quadrant number is determined by the location of the Roomba’s Sensor (Eye Spot) at the BEGINNING of a behavior.  Also remember that your sensors don't start sensing until the beep and data from behaviors that are aborted are completely deleted from your memory..