F  `G@  8__PAGEZERO__TEXT __text__TEXTxx__cstring__TEXT\& \__DATA0 __data__DATA04 __dyld__DATA414!__IMPORT@0__pointers__IMPORT@ 0__jump_table__IMPORT@@n@08__LINKEDITP@@?XC P$(B /usr/lib/dyldPx 4/usr/lib/libgcc_s.1.dylib 4o/usr/lib/libSystem.B.dylibj]\$ML$ˉ\$u\$ OD$+XSwXgUS[t$+[UST[EEEEDžD$D$ uD$E D$E$+E}}wwE))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))))i)J))))))))))))). )))))))))))))&))) )d)))@))))Zt)))g*D$ D$$(E*D$$(ED$$E}X*D$ D$D$$Z(Dž}E$}E$}E$ }E$6}E$ *D$ D$$'EE$ f*D$ D$$'E}7ED$E$K }E$6E$5}tE$E$*P*}u_Dž}t E$yDžT[US4[} uE E D$E$ E}u EED$ED$E$&E}t$I&E$d ED$ED$E$J&E}t$%EP$dP D$t$%EUEUED$$%E@pEEE4[U}tEt E$E$[%UEUE$)%EU}tEt EEEUUE BpUE@pUS$[UET$E D$ $%EE;EtR$$E;E$[UWVSL[E EE ¸!ЈEEEE¸!ЈE㍃UtBUMu}-$EԉT$L$t$ |$%D$Eԉ$#EۉEEEEEEEEߋED$EۉD$$$E}tQ$#L[^_UD$D$E$UE@pD$D$E$UD$E D$E$UE@pD$D$E$UE D$D$E$eUE@pD$D$E$@UD$E D$E$UE@pD$D$E$UD$E D$E$US4[E UEUEEEEEEEEEED$ED$$Z"E}tP$ "4[US4[E UMEUM܀}tEE}tEEU Uۀ} EEED$ED$$!E}t$}!4[UWVS|[E EUMu}E EE$EE(EEEԈUЈM̉EȉEEEEEEE}tE E}tEEE EE}tEEE EE}tEEE EE}tEEU U} ЈEEߋEEEEEEED$E߉D$$ E}t$K |[^_U(E EEUMD$ T$L$E$US4[EEED$ED$$ E$d;UTED$T$$E}t8t#ED$l D$$bEEE4[US$[ETEE#EED$ $*E}~$ $[UWVS<[ETEEƒET$D$ $EEƒEL$ T$D$ $xE@D$ $\EЋEȋEET$L$ t$D$ $ED$ $EEƃEǃEƒEL$t$|$ T$D$ $pE ЋET$D$ $BE D$ $$E D$0 $E E  ЉD$A $EE ЉD$Q $ED$^ $EE ЉD$v $UEE ЉD$ $$ED$ $EE ЉD$ $EE ЉD$ $<[^_UEi$UST[0 t#ED$4 D$$)D$E$*E}u` $EEȉD$E$"y $EE D$Eȉ$E D$Eȉ$EЀEЋEЀEЋEЀEЋEЀEЋE%EЋEЀ̈EЋEȀEȋE%uEԋẼEEEEȉD$D$E$ny $/EEEċEăT[Usage: roombacmd -p [OPTIONS] Options: -h, --help Print this help message -p, --port=serialport Serial port roomba is on -B, --baud=baudrate Serial port speed (default 57600) -v, --verbose=NUM Be verbosive (use more for more verbose) -f, --forward Go forward at current speed -b, --backward Go backward at current speed -l, --spin-left Spin left at current speed -r, --spin-right Spin right at current speed -s, --stop Stop a moving Roomba -w, --wait=millis Wait some milliseconds -V, --velocity=val Set current speed to val (1 to 500) -S, --sensors Read Roomba sensors,display nicely -R, --sensors-raw Read Roomba sensors,display in hex --debug Print out boring details Examples: roombacmd -p /dev/ttyS0 -V 250 --forward roombacmd -p /dev/ttyS0 --spin-left roombacmd -p /dev/ttyS0 --sensors roombacmd -p /dev/ttyS0 --stop Notes: - The '-p' port option must be first option and is required. - All options/commands can be cascaded & are executed in order, like: roombacmd -p /dev/ttyS0 -f -w 1000 -b -w 1000 -s to go forward for 1 sec, go back for 1 sec, then stop. - If --baud= option used, it must appear before --port= - Default baudrate is 57600 (400-series Roombas), set to 115200 for newer helpportbaudresetdriveforwardbackwardspin-leftspin-rightstopwaitvelocitysensorssensors-rawspydebughp:B:d:fblrsw:V:SRDerror: couldn't open roomba open_port: Unable to write to port roomba_send: couldn't write to roombaroomba_drive: %.2hhx %.2hhx %.2hhx %.2hhx roomba_drive: couldn't write to roombaroomba_play_note: couldn't write to roombaroomba_set_motors: couldn't write to roombaroomba_set_leds: couldn't write to roombaroomba_read_sensors: not enough read (n=%d) %.2hhx bump: %x %x wheeldrop: %x %x %x wall: %x cliff: %x %x %x %x virtual_wall: %x motor_overcurrents: %x %x %x %x %x dirt: %x %x remote_opcode: %.2hhx buttons: %.2hhx distance: %.4x angle: %.4x charging_state: %.2hhx voltage: %d current: %d temperature: %d charge: %d capacity: %d roomba_init_serialport: opening port %s roomba_init_serialport: Unable to open port roomba_init_serialport: Couldn't get term attributesroomba_init_serialport: Couldn't set term attributes,h,p,B,$,d*,f2,b;,lE,rP,sU,wZ,Vc,Sk,Rw,Y{,D 000001.0@ 0O 0W0_0k0F$ "l7D$\n!j!` zl[j 0ER/ a1o01|x )/>FNYdu3()*+,-./01245@6789:;<=> 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tH8hH8<|xH8<|xHDT$DDTDDT*DD`DDTDD`D [OPTIONS] Options: -h, --help Print this help message -p, --port=serialport Serial port roomba is on -B, --baud=baudrate Serial port speed (default 57600) -v, --verbose=NUM Be verbosive (use more for more verbose) -f, --forward Go forward at current speed -b, --backward Go backward at current speed -l, --spin-left Spin left at current speed -r, --spin-right Spin right at current speed -s, --stop Stop a moving Roomba -w, --wait=millis Wait some milliseconds -V, --velocity=val Set current speed to val (1 to 500) -S, --sensors Read Roomba sensors,display nicely -R, --sensors-raw Read Roomba sensors,display in hex --debug Print out boring details Examples: roombacmd -p /dev/ttyS0 -V 250 --forward roombacmd -p /dev/ttyS0 --spin-left roombacmd -p /dev/ttyS0 --sensors roombacmd -p /dev/ttyS0 --stop Notes: - The '-p' port option must be first option and is required. - All options/commands can be cascaded & are executed in order, like: roombacmd -p /dev/ttyS0 -f -w 1000 -b -w 1000 -s to go forward for 1 sec, go back for 1 sec, then stop. - If --baud= option used, it must appear before --port= - Default baudrate is 57600 (400-series Roombas), set to 115200 for newer helpportbaudresetdriveforwardbackwardspin-leftspin-rightstopwaitvelocitysensorssensors-rawspydebughp:B:d:fblrsw:V:SRDerror: couldn't open roomba open_port: Unable to write to port roomba_send: couldn't write to roombaroomba_drive: %.2hhx %.2hhx %.2hhx %.2hhx roomba_drive: couldn't write to roombaroomba_play_note: couldn't write to roombaroomba_set_motors: couldn't write to roombaroomba_set_leds: couldn't write to roombaroomba_read_sensors: not enough read (n=%d) %.2hhx bump: %x %x wheeldrop: %x %x %x wall: %x cliff: %x %x %x %x virtual_wall: %x motor_overcurrents: %x %x %x %x %x dirt: %x %x remote_opcode: %.2hhx buttons: %.2hhx distance: %.4x angle: %.4x charging_state: %.2hhx voltage: %d current: %d temperature: %d charge: %d capacity: %d roomba_init_serialport: opening port %s 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