Hey I'm looking for suggestions here and answers. I've never hacked a roomba so I'm being a good little mad scientist and doing some homework. The booze robot I would like to take advantage of the auto dock and charge feature. Does anyone know how that works? Also I planned on controlling the roomba through the ps2 port but far as I know that's a one way connection to send commands. Lastly does anyone know how to utilize it's bump sensor so ezb can read the bumps. If I modify it so ezb can read the bumps will this throw an error and cause the roomba not to function? These answers are super helpful with this coming weeks work where we should see the beer butler have a working chassis.