With this small project you can control your Roomba with a Playstation 4 controller and play Midi songs.

git clone https://github.com/danielzuegner/roomba_control.git
cd roomba_control
pip install -r requirements.txt

• Check whether your Roomba has a micro USB port. I have a Roomba 960 and the USB port is located under a section of the chassis on the bottom right. See the image below for details:
• Connect a computer with the USB port I've used a Raspberry Pi Zero W with a powerbank, but other options should work.
• Clone this repo on the computer you want to use to control your Roomba
• Connect the computer to your PS4 controller, e.g., as described here.
• Figure out the device interface of the USB connection to your Roomba. For my Raspberry Pi, the port is /dev/ttyACM0.
• Figure out the device interface of the Bluetooth connection to your PS4 controller. In my case, this is /dev/input/js0.

Once your setup is complete, simply run

python roomba.py --interface /your/roomba/interface --controller-interface /your/ps4/interface

and have fun! Steering is straightforward with the L3 analog stick. Vaccuuming can be turned on with R2. I've added a couple of songs to play on the square, x, circle, triangle, up arrow, and down arrow buttons.

If you want to teach your Roomba more songs, you can use midi_to_roomba.py to do so:

python midi_to_roomba.py --file your_midi_file.mid --track TRACK_ID

where TRACK_ID is the ID of the MIDI track you would like to export.

Simply add the output JSON into the SONGS_DICT in songs.py.