Maybe the best way to approach this is to switch modes on the fly... when you want full control issue a full ControlCommand to take over... When want the Roomba to wander around by itself, just switch back to safe mode....

Thats what I was thinking. Having separate "Full" and "Safe" init scripts to change when needed (don't think I will need a "Passive" init). I don't have a problem using full mode when myself or a script is controlling it, but later down the line I want to make it as autonomous as possible, so thinking safe mode would be the better option for this. I'll have to do some trial and error before attaching body parts to it.

Yeah, when it docked last night I think I did it manually so it was still in full mode, hence why it didn't charge. eyeroll Lesson learned.

@Steve... Yeah, that may be why the Roomba is reconditioning charging as possibly the battery got too depleted over night while failing to charge...

If you keep reading the IO PDF I uploaded it will do two things... 1) Put you to sleep really fast LOL and 2) Get you the most out of programming and controlling the Roomba...

@Richard.

Yes, between the Zzzzz's sleep, I keep going back to it and having a good read. A lot to take in for a novice like myself lol, but I'm starting to make some sense of it and it is a good read. So if I have this right, taking this for example...

uartwrite(0,1,142,45)

Which is...

uartwrite(Board, Port, data, data)

So writing something like this...

Serial sequence: [145] [Right velocity high byte] [Right velocity low byte] [Left velocity high byte] [Left velocity low byte]

Would be written in script something like this...

uartwrite(Board, Port, data, data, data, data, data)

Is that correct?

Yep you got it right... uartwrite(0,1,142,45) ...so uartwrite(board, port, request for a data packet, data packet requested)

If you open my custom Movement Panel for roomba driving you can just use all those commands in a script for forward, reverse, left, right and stop... That way you don't have to mess with the velocity high and low byte stuff...

With the forward command you can adjust speed via a variable if you want..

uartWrite(0,1,137,0,$speed,0,0) #forward movement where $speed is (I think) any number between 1 to 255... 100 seems to be a nice slow speed for most situations....

That's cool thanks for confirming Richard. What I wrote above was just an example to help get my head around it, which its starting to. I already used your Movement Panel scripts in a mobile interface control, so it's all good. Still can't play with my poor lil Roomba. Orange LED is still pulsing so deffo going to need that 16 hour charge, but it gave me a chance to get my hands dirty and almost finish of the build part of my new bot.

Sweet, can't wait to see it...