Brilliant. Thanks Richard.

Oooops... had a bit of time... but you do realise you're interrupting beer time...

uartWrite(0,1,143) #seek dock uartWrite(0,1,135) #Clean uartWrite(0,1,136) #Max Clean uartWrite(0,1,134) #Spot uartWrite(0,1,133) #Power down the Roomba uartWrite(0,1,128,7) #reset roomba

@Richard.

Your a beautiful man. Thanks very much for that. This is my first time playing with UART and, except for the first two values (board and port numbers), I'm really not sure what the other values mean or do. I'll figure it out one day I guess.

Now get back to that beer, and have one or two for me.

@Steve.... LOL... The last numbers are just Roomba commands that we're sending... They are numerical values that tells the Roomba what to do...

Here is the Roomba ROI so you can see where I get this stuff from...iRobot_Roomba_500_Open_Interface_Spec-635553130070291250.pdf

Thanks for the codes link Richard. A couple of questions though (you knew they were coming)... Is there a command to turn the power on when the Roomba is off the dock for a while and auto shuts down? I'm havering to press the "Clean" button to wake it up at the mo.

Second, I have seen the command codes for the sensors but not sure what to use. I want to be able to turn of all the sensors (cliff, bump ect) when I'm manually controlling the Roomba, and later on adding it to an autonomous script. What I've tried so far hasn't had any effect (although I'm still tumbling around I'm the dark at the moment). From what I gather it needs to be in "Safe" of "Passive" mode to do this, as the manual controls are in "Full" mode.

Try this, but otherwise I am not sure.... make sure you init the uart port first.... uartWrite(0,1,128) #this is the initial command needed before sending any other

Safe mode will allow the Roomba to control it's own sensors I believe...

Below is code to manually check the Roomba's bump and ir sensors...

  REPEATUNTIL(1=2)
    uartWrite(0,1,142,45) # Read Roomba IR sensors single byte
    sleep(10)
    
    uartWrite(0,1,142,7) # Roomba Bump and wheel drop sensor single byte
    sleep(10)
    
    uartWrite(0,1,142,58) # Stasis (Rommba moving forward) single byte
    sleep(10)
    
    $x = UartAvailable(0, 1)
    IF ($x>2)
      
      # print("Bytes in buffer: " + $x) checks how many bytes are in the buffer
      
      $RX_DATA = UARTRead(0, 1, $x) #places all the bytes RX into $RX_DATA
      # read 3 data bytes
      $RX_0=GetByteAt($RX_DATA,0)
      $RX_1=GetByteAt($RX_DATA,1)
      $RX_2=GetByteAt($RX_DATA,2)
    ENDIF 
    IF ($RX_0!=0 or $RX_1!=0)
      uartWrite(0,1,137,0,0,0,0) #stop roomba
    ENDIF 
      
      
    print($RX_0+" IR light object detected") various values depending on which IR was triggered
    print($RX_1+" bump detected") 0, 1, 2, 3 depending on where the Roomba bumped
    print($RX_2+" whether or not Roomba Is moving forward") 0 - 1
    
    sleep(250)
  ENDREPEATUNTIL 

@Richard.

Thanks bud. I'll give that a try in a bit when I've charged the battery.