Estamos desarrollando un dispositivo Z-Wave para controlar la aspiradora iRobot Roomba

#define LED_PIN 13
byte roombaState = 0;
ZUNO_SETUP_CHANNELS(ZUNO_SWITCH_BINARY(getter, setter));

void setup() {
   pinMode(LED_PIN, OUTPUT);
   Serial1.begin(); 
}

void loop() { /*Empty*/ }

void setter(byte value) {
  digitalWrite (LED_PIN, HIGH); // Turn On LED
  if (value) {
    Serial1.write(128);  // Roomba START Communication
    Serial1.write(131);  // SAFE MODE
    Serial1.write(135);  // Clean
    roombaState = 1;
  }
  else {
    digitalWrite (LED_PIN, LOW);
    Serial1.write(128);  // Roomba START Communication
    Serial1.write(131);  // SAFE MODE
    Serial1.write(143);  // Seek Dock
    roombaState = 0;
  }
}
 
byte getter() {
  return roombaState;
}

#define LED_PIN 13
byte roombaState = 0;
word batteryValue = 0;

ZUNO_SETUP_CHANNELS(ZUNO_SWITCH_BINARY(getter, setter),ZUNO_SENSOR_MULTILEVEL(ZUNO_SENSOR_MULTILEVEL_TYPE_VOLTAGE, SENSOR_MULTILEVEL_SCALE_VOLT, SENSOR_MULTILEVEL_SIZE_ONE_BYTE, 1, getterBattery));

void setup() {
   pinMode(LED_PIN, OUTPUT);
   Serial1.begin(); 
}

void loop() { 
  // Get battery value every 1 minute
  byte data[2] = {0,0}; // array to store data from battery
  byte i = 0;
  Serial1.write(142); // Send a packet of sensor data bytes
  Serial1.write(22);  // Get battery value
  delay(200);
  while (Serial1.available()) { 
    data[i++] = Serial1.read();
  }

  // highbyte is shifted left eight bits, lowbyte is added to highbyte    
  // encoder_count=highbyte<<8+lowbyte
  batteryValue= (data[0]<<8)+data[1];

  zunoSendReport(2); // Send Battery every 30 seconds
  delay(30000);
}

void setter(byte value) {
  if (value) {
    digitalWrite (LED_PIN, HIGH);
    Serial1.write(128);  // Roomba START Communication
    Serial1.write(131);  // SAFE MODE
    Serial1.write(135);  // Clean
    roombaState = 1;
  }
  else {
    digitalWrite (LED_PIN, LOW);
    Serial1.write(128);  // Roomba START Communication
    Serial1.write(131);  // SAFE MODE
    Serial1.write(135);  // Stop Clean
    roombaState = 0;
  }
}
 
byte getter() {
  return roombaState;
}

byte getterBattery() {
  return batteryValue;
}