{"id":169967,"date":"2013-02-20T17:37:05","date_gmt":"2013-02-20T13:37:05","guid":{"rendered":"http:\/\/savepearlharbor.com\/?p=169967"},"modified":"-0001-11-30T00:00:00","modified_gmt":"-0001-11-29T21:00:00","slug":"","status":"publish","type":"post","link":"https:\/\/savepearlharbor.com\/?p=169967","title":{"rendered":"<span class=\"post_title\">\u0421\u0430\u043c\u043e\u0434\u0435\u043b\u044c\u043d\u044b\u0439 \u0418\u041a-\u043f\u0443\u043b\u044c\u0442 \u0434\u043b\u044f iRobot Roomba<\/span>"},"content":{"rendered":"<div class=\"content html_format\">   \t\u041e\u043f\u0440\u043e\u0441 \u0432 \u043c\u043e\u0451\u043c \u043f\u0440\u0435\u0434\u044b\u0434\u0443\u0449\u0435\u043c \u043f\u043e\u0441\u0442\u0435 <a href=\"http:\/\/habrahabr.ru\/post\/168033\/\">\u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u044f\u0435\u043c \u0440\u043e\u0431\u043e\u0442\u043e\u043c-\u043f\u044b\u043b\u0435\u0441\u043e\u0441\u043e\u043c iRobot Roomba \u0447\u0435\u0440\u0435\u0437 \u0418\u041a\u00bb<\/a> \u043f\u043e\u043a\u0430\u0437\u0430\u043b, \u0447\u0442\u043e \u0441\u043e\u043e\u0431\u0449\u0435\u0441\u0442\u0432\u0443 \u0438\u043d\u0442\u0435\u0440\u0435\u0441\u043d\u043e \u0443\u0437\u043d\u0430\u0442\u044c, \u043a\u0430\u043a \u0438\u0437\u0433\u043e\u0442\u043e\u0432\u0438\u0442\u044c \u0441\u0430\u043c\u043e\u043c\u0443 \u0418\u041a-\u043f\u0443\u043b\u044c\u0442 \u0434\u043b\u044f Roomb-\u044b. \u0418\u0442\u0430\u043a, \u0432\u0441\u0442\u0440\u0435\u0447\u0430\u0439\u0442\u0435! =)<br \/>  <img decoding=\"async\" src=\"http:\/\/habrastorage.org\/storage2\/5dc\/e7d\/5e8\/5dce7d5e802368aef17e2ed4c54417c2.jpg\"\/><br \/>  <a name=\"habracut\"><\/a><\/p>\n<p>  \u0421\u0445\u0435\u043c\u0430 \u043f\u0443\u043b\u044c\u0442\u0430:<\/p>\n<p>  <img decoding=\"async\" src=\"http:\/\/habrastorage.org\/storage2\/349\/d3b\/d39\/349d3bd39d113f5a49b64717b096ae88.png\"\/><\/p>\n<p>  <i>\u042f \u0438\u0441\u043f\u043e\u043b\u044c\u0437\u043e\u0432\u0430\u043b: <\/i>  <\/p>\n<ul>\n<li>\u041c\u041a ATTINY2313A-SU,<\/li>\n<li>\u043a\u043d\u043e\u043f\u043a\u0438 DTSM-20,<\/li>\n<li>\u0442\u0440\u0430\u043d\u0437\u0438\u0441\u0442\u043e\u0440 BC846,<\/li>\n<li>SMD \u0441\u0432\u0435\u0442\u043e\u0434\u0438\u043e\u0434 \u0434\u043b\u044f \u0438\u043d\u0434\u0438\u043a\u0430\u0446\u0438\u0438,<\/li>\n<li>\u0418\u041a-\u0434\u0438\u043e\u0434 L-34F3C,<\/li>\n<li>\u043a\u0432\u0430\u0440\u0446 \u043d\u0430 7,3728\u041c\u0413\u0446.<\/li>\n<li>\u043d\u0435\u0441\u043a\u043e\u043b\u044c\u043a\u043e \u0440\u0435\u0437\u0438\u0441\u0442\u043e\u0440\u043e\u0432 \u0438 \u043a\u043e\u043d\u0434\u0435\u043d\u0441\u0430\u0442\u043e\u0440\u043e\u0432.<\/li>\n<\/ul>\n<p>  \u0418\u0437\u043d\u0430\u0447\u0430\u043b\u044c\u043d\u043e \u044f \u043f\u043b\u0430\u043d\u0438\u0440\u043e\u0432\u0430\u043b \u0441\u0434\u0435\u043b\u0430\u0442\u044c \u00ab\u0441\u043f\u0430\u0440\u0442\u0430\u043d\u0441\u043a\u0438\u0439\u00bb \u0432\u0430\u0440\u0438\u0430\u043d\u0442 \u2014 \u043f\u043b\u0430\u0442\u0430 \u0441 \u043a\u043d\u043e\u043f\u043a\u0430\u043c\u0438 \u0432 \u0442\u0435\u0440\u043c\u043e\u0443\u0441\u0430\u0434\u043a\u0435, \u043d\u043e \u043f\u043e\u0442\u043e\u043c \u0432\u0441\u0451-\u0442\u0430\u043a\u0438 \u0440\u0435\u0448\u0438\u043b \u0441\u043e\u0431\u0440\u0430\u0442\u044c \u0432\u0441\u0451 \u0432 \u043a\u043e\u0440\u043f\u0443\u0441\u0435. \u041a\u043e\u0440\u043f\u0443\u0441 \u0432\u044b\u0431\u0438\u0440\u0430\u043b \u0438\u0437 \u0442\u043e\u0433\u043e, \u0447\u0442\u043e \u0435\u0441\u0442\u044c \u0432 \u043f\u0440\u043e\u0434\u0430\u0436\u0435, \u043c\u043d\u0435 \u043f\u043e\u043d\u0440\u0430\u0432\u0438\u043b\u0441\u044f <a href=\"http:\/\/www.gainta.com\/g401.html\">GAINTA G401<\/a>. \u041f\u043e\u0434 \u043d\u0435\u0433\u043e \u0438 \u0434\u0435\u043b\u0430\u043b \u043f\u043b\u0430\u0442\u0443:<\/p>\n<p>  <img decoding=\"async\" src=\"http:\/\/habrastorage.org\/storage2\/2bf\/acc\/df3\/2bfaccdf32831bb5fed62f7b22a596b7.png\"\/><\/p>\n<p>  \u0424\u0443\u043d\u043a\u0446\u0438\u0438 \u043a\u043d\u043e\u043f\u043e\u043a:<br \/>  SW1 \u2014 Dock<br \/>  SW2 \u2014 Pause\/Power<br \/>  SW3 \u2014 Forward Left<br \/>  SW4 \u2014 Clean<br \/>  SW5 \u2014 Left<br \/>  SW6 \u2014 Forward<br \/>  SW7 \u2014 Spot<br \/>  SW8 \u2014 Right<br \/>  SW9 \u2014 Forward Right<\/p>\n<p>  \u041a\u0430\u043a \u0432 \u043f\u043e\u0441\u043b\u0435\u0434\u0441\u0442\u0432\u0438\u0438 \u0432\u044b\u044f\u0441\u043d\u0438\u043b\u043e\u0441\u044c, \u043a\u043d\u043e\u043f\u043a\u0430 SW2, \u043a\u043e\u0442\u043e\u0440\u0430\u044f, \u043f\u043e \u0437\u0430\u0434\u0443\u043c\u043a\u0435, \u043f\u0440\u0438 \u043d\u0430\u0436\u0430\u0442\u0438\u0438 \u043f\u0435\u0440\u0435\u0434\u0430\u0451\u0442 \u043a\u043e\u043c\u0430\u043d\u0434\u0443 \u00abPause\u00bb, \u0430 \u043f\u0440\u0438 \u0434\u043e\u043b\u0433\u043e\u043c \u043d\u0430\u0436\u0430\u0442\u0438\u0438 \u00abPower\u00bb \u2014 \u043d\u0435 \u043d\u0443\u0436\u043d\u0430, \u0442.\u043a. \u044d\u0442\u0438 \u0444\u0443\u043d\u043a\u0446\u0438\u0438 \u0432\u044b\u043f\u043e\u043b\u043d\u044f\u0435\u0442 \u043a\u043d\u043e\u043f\u043a\u0430 \u00abClean\u00bb. \u041e\u043d\u0430 \u0440\u0430\u0431\u043e\u0442\u0430\u0435\u0442 \u0442\u0430\u043a \u0436\u0435, \u043a\u0430\u043a \u0438 \u043a\u043d\u043e\u043f\u043a\u0430 \u043d\u0430 \u0441\u0430\u043c\u043e\u043c \u0440\u043e\u0431\u043e\u0442\u0435-\u043f\u044b\u043b\u0435\u0441\u043e\u0441\u0435: \u043a\u043e\u0440\u043e\u0442\u043a\u043e\u0435 \u043d\u0430\u0436\u0430\u0442\u0438\u0438 \u2014 \u0447\u0438\u0441\u0442\u0438\u0442\u044c, \u0432\u043e \u0432\u0440\u0435\u043c\u044f \u0440\u0430\u0431\u043e\u0442\u044b \u2014 \u043e\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0430, \u0430 \u0434\u043e\u043b\u0433\u043e\u0435 \u043d\u0430\u0436\u0430\u0442\u0438\u0435 \u2014 \u0432\u044b\u043a\u043b\u044e\u0447\u0435\u043d\u0438\u0435. \u0422.\u0447. \u0435\u0441\u043b\u0438 \u043a\u0442\u043e \u0431\u0443\u0434\u0435\u0442 \u043f\u043e\u0432\u0442\u043e\u0440\u044f\u0442\u044c \u043f\u0443\u043b\u044c\u0442 \u2014 \u043f\u0440\u043e\u0441\u0442\u043e \u043d\u0435 \u0443\u0441\u0442\u0430\u043d\u0430\u0432\u043b\u0438\u0432\u0430\u0439\u0442\u0435 SW2.<\/p>\n<div class=\"spoiler\"><b class=\"spoiler_title\">\u041b\u0438\u0441\u0442\u0438\u043d\u0433 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u044b<\/b><\/p>\n<div class=\"spoiler_text\">\n<pre><code class=\"cpp\">\/* \u041f\u0443\u043b\u044c\u0442 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u0435 \u0440\u043e\u0431\u043e\u0442\u043e\u043c-\u043f\u044b\u043b\u0435\u0441\u043e\u0441\u043e\u043c Irobot Roomba. \u041f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0430 \u0434\u043b\u044f \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440\u0430 Atmel ATTINY2313A. FUSE-\u0431\u0438\u0442\u044b:  Fuse Low Byte: CKDIV|CKOUT|SUT|SKSEL|   0  |  1  |10 |0100 | 0x64 Default   1  |  1  |10 |1100 | 0b11101100=0xEC  \u0434\u043b\u044f \u043a\u0432\u0430\u0440\u0446\u0430 3-8 \u041c\u0413\u0446 *\/  \/\/#define F_CPU 7.3728E6 \/\/#define __AVR_ATtiny2313A__  #include &lt;avr\/io.h&gt; #include &lt;avr\/interrupt.h&gt; #include &lt;avr\/sleep.h&gt;  \/*------&lt;\u041c\u0430\u043a\u0440\u043e\u0441\u044b&gt;-----*\/ \/\/\u0427\u0430\u0441\u0442\u043e\u0442\u0430 39477 \u0413\u0446 \/\/\u041f\u0435\u0440\u0438\u043e\u0434 25,3 \u043c\u043a\u0441: #define P_GEN {TCNT0=0; PORTB |= 0x8; while (TCNT0 &lt; 93); PORTB &= ~0x8; while (TCNT0 &lt; 186);}  \/\/Roomba \u043a\u043e\u0434\u044b: #define LEFT \t\t\t129 #define FORWARD \t\t130 #define RIGHT \t\t\t131 #define SPOT \t\t\t132 #define DOCK \t\t\t133 #define CLEAN \t\t\t136 #define PAUSE \t\t\t137 #define POWER \t\t\t138 #define FORWARD_LEFT  \t139 #define FORWARD_RIGHT \t140 #define TEST \t\t\t170   \/*----------------&lt;\u0424\u0443\u043d\u043a\u0446\u0438\u0438:&gt;----------------*\/ void init(void) { \/\/\u0423\u0441\u0442\u0430\u043d\u043e\u0432\u043a\u0430 \u0434\u0435\u043b\u0438\u0442\u0435\u043b\u044f \u0447\u0430\u0441\u0442\u043e\u0442\u044b \u043d\u0430 \/1: \tCLKPR = (1&lt;&lt;CLKPCE); \tCLKPR = (0&lt;&lt;CLKPS0)|(0&lt;&lt;CLKPS1)|(0&lt;&lt;CLKPS2)|(0&lt;&lt;CLKPS3); \/\/\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0430 \u043f\u043e\u0440\u0442\u043e\u0432: \tPORTD = 0xFF; \tDDRD  = 0x0; \tPORTB = (1&lt;&lt;PORTB0)|(1&lt;&lt;PORTB1)|(1&lt;&lt;PORTB2); \tDDRB  = (1&lt;&lt;DDB3)|(1&lt;&lt;DDB4); \/\/\u041d\u0430\u0441\u0442\u0440\u043e\u0439\u043a\u0430 \u043f\u0440\u0435\u0440\u044b\u0432\u0430\u043d\u0438\u0439: \tGIMSK = 0x30; \/\/(1&lt;&lt;PCIE)|(1&lt;&lt;4); \tPCMSK = 0x3; \/\/(1&lt;&lt;PCINT0)|(1&lt;&lt;PCINT1); \tPCMSK2 = 0x7F; }  void ir_tx(unsigned char data_ir) { \tPORTB |= (1&lt;&lt;PB4); \/\/\u0412\u043a\u043b\u044e\u0447\u0438\u043c \u0441\u0432\u0435\u0442\u043e\u0434\u0438\u043e\u0434 \/* \u041a\u043e\u0434\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0434\u0430\u043d\u043d\u044b\u0445: 1: __________ 2862uS    |988uS           |_____ 0: _____ 887uS|  2862uS      |__________ \u0412 \u043a\u043e\u043d\u0446\u0435 \u043f\u0430\u0443\u0437\u0430 ~16870 uS *\/ \tunsigned char cnt; \/\/\u041d\u0430\u0441\u0442\u0440\u0430\u0438\u0432\u0430\u0435\u043c \u0442\u0430\u0439\u043c\u0435\u0440\u044b: \tTCCR0B = (0&lt;&lt;CS12)|(0&lt;&lt;CS11)|(1&lt;&lt;CS10); \/\/ \u0414\u043b\u044f \u043d\u0435\u0441\u0443\u0449\u0435\u0439 f\/1 \tTCCR1B = (0&lt;&lt;CS12)|(1&lt;&lt;CS11)|(1&lt;&lt;CS10); \/\/ \u0414\u043b\u044f \u0434\u0430\u043d\u043d\u044b\u0445 f\/64\t         for (cnt=0; cnt&lt;8; cnt++)         {             TCNT1=0;             if (data_ir & (0x80 &gt;&gt; cnt))             {\t\/\/\u0415\u0441\u043b\u0438 1                 while (TCNT1 &lt; 330) P_GEN;                 while (TCNT1 &lt; (330+114)) ;             }             else             {\t\/\/\u0415\u0441\u043b\u0438 0                 while (TCNT1 &lt; 113) P_GEN;                 while (TCNT1 &lt; (330+114)) ;             }         }         TCNT1=0;         while (TCNT1 &lt; 1950)  ;    \tPORTB &= ~(1&lt;&lt;PB4);\t\/\/\u0412\u044b\u043a\u043b\u044e\u0447\u0438\u043c \u0441\u0432\u0435\u0442\u043e\u0434\u0438\u043e\u0434 }  void send_command(void) { \tvolatile unsigned char button_b; \tvolatile unsigned char button_d; \tvolatile unsigned char button_b_new; \tvolatile unsigned char button_d_new; \tunsigned char pause_cnt = 0; \tTCCR1B = (0&lt;&lt;CS12)|(1&lt;&lt;CS11)|(1&lt;&lt;CS10); \/\/ f\/64 \tTCNT1=0; \twhile (TCNT1 &lt; 346); \/\/346 - \u0417\u0430\u0434\u0435\u0440\u0436\u043a\u0430 3 ms  \tbutton_b = ~PINB & ((1&lt;&lt;PINB0)|(1&lt;&lt;PINB1)); \tbutton_d = ~PIND & 0x7F; \tbutton_b_new = button_b; \tbutton_d_new = button_d; \t     while ((button_b == button_b_new)&&(button_d == button_d_new))     {         if ((button_b_new == 0) && (button_d_new == 0)) break;\t\t \t\tif (button_b == (1&lt;&lt;PINB0)) {ir_tx(DOCK);}         if ((pause_cnt &lt; 20) && (button_b == (1&lt;&lt;PINB1))) {ir_tx(PAUSE); pause_cnt++;} \t\tif (pause_cnt &gt;= 20) {ir_tx(POWER);}         if (button_d == (1&lt;&lt;PIND0)) {ir_tx(FORWARD_LEFT);}         if (button_d == (1&lt;&lt;PIND1)) {ir_tx(CLEAN);}         if (button_d == (1&lt;&lt;PIND2)) {ir_tx(LEFT);}         if (button_d == (1&lt;&lt;PIND3)) {ir_tx(FORWARD);}         if (button_d == (1&lt;&lt;PIND4)) {ir_tx(SPOT);}         if (button_d == (1&lt;&lt;PIND5)) {ir_tx(RIGHT);}         if (button_d == (1&lt;&lt;PIND6)) {ir_tx(FORWARD_RIGHT);} \t\tbutton_b_new = ~PINB & ((1&lt;&lt;PINB0)|(1&lt;&lt;PINB1));         button_d_new = ~PIND & 0x7F; \t\t     } }  \/*----------------------&lt;\u041e\u0431\u0440\u0430\u0431\u043e\u0442\u043a\u0430 \u043f\u0440\u0435\u0440\u044b\u0432\u0430\u043d\u0438\u0439:&gt;------------------------*\/ ISR(PCINT_B_vect) { \tcli(); \tsend_command(); \tsei(); }  ISR(PCINT_D_vect) { \tcli(); \tsend_command(); \tsei(); }  \/*-----------------&lt;\u043e\u0441\u043d\u043e\u0432\u043d\u043e\u0439 \u0446\u0438\u043a\u043b \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u044b&gt;-----------------------*\/ int main(void) { \tinit(); \tsei(); \tfor(;;) \t{ \t\tset_sleep_mode(SLEEP_MODE_PWR_DOWN); \t\tsleep_mode(); \t} }  <\/code><\/pre>\n<p>  <\/div>\n<\/div>\n<p>  \u0424\u043e\u0442\u043e \u0432 \u0441\u0431\u043e\u0440\u0435: <\/p>\n<p>  <img decoding=\"async\" src=\"http:\/\/habrastorage.org\/storage2\/482\/fa1\/9b0\/482fa19b0f0dd9661e5ed1a35f7ccbbc.jpg\"\/><\/p>\n<p>  \u041f\u043e\u0434\u043f\u0438\u0441\u0438 \u043a\u043d\u043e\u043f\u043e\u043a, \u043a\u043e\u043d\u0435\u0447\u043d\u043e, \u0432\u044b\u0433\u043b\u044f\u0434\u044f\u0442 \u043a\u043e\u0440\u044f\u0432\u043e \u2014 \u0442\u0435\u043f\u0435\u0440\u044c \u044f \u043f\u043e\u043d\u0438\u043c\u0430\u044e, \u0447\u0442\u043e \u0433\u0440\u0430\u0432\u0438\u0440\u043e\u0432\u043a\u0430 \u2014 \u0434\u0435\u043b\u043e \u043d\u0435 \u043f\u0440\u043e\u0441\u0442\u043e\u0435! \ud83d\ude42<\/p>\n<p>  \u0421\u0430\u043c\u0430 \u043f\u043b\u0430\u0442\u0430: <\/p>\n<p>  <img decoding=\"async\" src=\"http:\/\/habrastorage.org\/storage2\/953\/d66\/851\/953d66851e365ea15971a18a1f613ad5.jpg\"\/><\/p>\n<p>  <img decoding=\"async\" src=\"http:\/\/habrastorage.org\/storage2\/fdc\/3f0\/61d\/fdc3f061df7c1bacd7ccecae2f307769.jpg\"\/><\/p>\n<p>  \u041f\u0440\u043e\u0432\u043e\u0434\u043d\u0438\u043a\u0438, \u043a\u043e\u0442\u043e\u0440\u044b\u0435 \u043f\u0440\u0435\u0434\u043f\u043e\u043b\u0430\u0433\u0430\u043b\u043e\u0441\u044c \u0432\u044b\u043f\u043e\u043b\u043d\u044f\u0442\u044c \u043d\u0430 \u043e\u0431\u0440\u0430\u0442\u043d\u043e\u0439 \u0441\u0442\u043e\u0440\u043e\u043d\u0435 \u0441\u0434\u0435\u043b\u0430\u043b \u043f\u0440\u043e\u0432\u043e\u0434\u0430\u043c\u0438.<\/p>\n<p>  \u0412\u0438\u0434\u0435\u043e, \u0434\u0435\u043c\u043e\u043d\u0441\u0442\u0440\u0438\u0440\u0443\u044e\u0449\u0438\u0435 \u0440\u0430\u0431\u043e\u0442\u0443:<br \/>  <iframe loading=\"lazy\" width=\"560\" height=\"349\" src=\"http:\/\/www.youtube.com\/embed\/4RjTE6N_hWc?wmode=opaque\" frameborder=\"0\" allowfullscreen><\/iframe><\/p>\n<hr\/>\n<p>  \u0424\u0430\u0439\u043b\u044b KiCAD-\u043f\u0440\u043e\u0435\u043a\u0442\u0430: <a href=\"http:\/\/yadi.sk\/d\/fgkfv9Qj2jJjz\">RemoteControlPCB.zip<\/a>.<br \/>  \u041f\u0440\u043e\u0448\u0438\u0432\u043a\u0430: <a href=\"http:\/\/yadi.sk\/d\/Sb_X5YH42jKdX\">RoombaRemoteControl.elf.hex<\/a>.<\/p>\n<p>  \u0414\u043b\u044f \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0438 \u0447\u0435\u0440\u0435\u0437 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0430\u0442\u043e\u0440 USBasp, \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u043e\u0439 avrdude:  <\/p>\n<pre><code class=\"bash\">avrdude -p t2313 -c usbasp -U flash:w:.\/RoombaRemoteControl.elf.hex <\/code><\/pre>\n<p>  \u041f\u0440\u043e\u0448\u0438\u0432\u043a\u0430 fuse-\u0431\u0438\u0442\u043e\u0432 \u0434\u043b\u044f \u0440\u0430\u0431\u043e\u0442\u044b \u0441 \u043a\u0432\u0430\u0440\u0446\u0435\u043c:  <\/p>\n<pre><code class=\"bash\">avrdude -p t2313 -c usbasp -U lfuse:w:0xEC:m <\/code><\/pre>\n<div class=\"clear\"><\/div>\n<\/p><\/div>\n<p> \u0441\u0441\u044b\u043b\u043a\u0430 \u043d\u0430 \u043e\u0440\u0438\u0433\u0438\u043d\u0430\u043b \u0441\u0442\u0430\u0442\u044c\u0438 <a href=\"http:\/\/habrahabr.ru\/post\/169967\/\"> http:\/\/habrahabr.ru\/post\/169967\/<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<div class=\"content html_format\">   \t\u041e\u043f\u0440\u043e\u0441 \u0432 \u043c\u043e\u0451\u043c \u043f\u0440\u0435\u0434\u044b\u0434\u0443\u0449\u0435\u043c \u043f\u043e\u0441\u0442\u0435 <a href=\"http:\/\/habrahabr.ru\/post\/168033\/\">\u00ab\u0423\u043f\u0440\u0430\u0432\u043b\u044f\u0435\u043c \u0440\u043e\u0431\u043e\u0442\u043e\u043c-\u043f\u044b\u043b\u0435\u0441\u043e\u0441\u043e\u043c iRobot Roomba \u0447\u0435\u0440\u0435\u0437 \u0418\u041a\u00bb<\/a> \u043f\u043e\u043a\u0430\u0437\u0430\u043b, \u0447\u0442\u043e \u0441\u043e\u043e\u0431\u0449\u0435\u0441\u0442\u0432\u0443 \u0438\u043d\u0442\u0435\u0440\u0435\u0441\u043d\u043e \u0443\u0437\u043d\u0430\u0442\u044c, \u043a\u0430\u043a \u0438\u0437\u0433\u043e\u0442\u043e\u0432\u0438\u0442\u044c \u0441\u0430\u043c\u043e\u043c\u0443 \u0418\u041a-\u043f\u0443\u043b\u044c\u0442 \u0434\u043b\u044f Roomb-\u044b. \u0418\u0442\u0430\u043a, \u0432\u0441\u0442\u0440\u0435\u0447\u0430\u0439\u0442\u0435! =)<br \/>  <img decoding=\"async\" src=\"http:\/\/habrastorage.org\/storage2\/5dc\/e7d\/5e8\/5dce7d5e802368aef17e2ed4c54417c2.jpg\"\/>  <\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[],"tags":[],"class_list":["post-169967","post","type-post","status-publish","format-standard","hentry"],"_links":{"self":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts\/169967","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=169967"}],"version-history":[{"count":0,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=\/wp\/v2\/posts\/169967\/revisions"}],"wp:attachment":[{"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=169967"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=169967"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/savepearlharbor.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=169967"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}