This routine operates three 5 vdc relays that have NO (normally open) contacts wired to the tabs of the Spot button, Clean button, and Dock button. This will electrically replicate the button press sequence that places the R3 model Roomba (5XX, 6XX, 7XX, and 8XX) into the Built in Test mode. Once in the test mode each of the 32 tests can be entered and all sensors and motors are tested.