iRobot CREATE - OPEN INTERFACE Manual page 16

Wait Distance Opcode: 156
This command causes iRobot Create to wait until it has
traveled the specified distance in mm. When Create travels
forward, the distance is incremented. When Create travels
backward, the distance is decremented. If the wheels
are passively rotated in either direction, the distance is
incremented. Until Create travels the specified distance,
its state does not change, nor does it react to any inputs,
serial or otherwise.
NOTE: This command resets the distance variable that is
returned in Sensors packets 19,  and 6.
• Serial sequence: [156] [Distance high byte]
[Distance low byte]
• Available in modes: Passive, Safe, or Full
• Changes mode to: No Change
• Wait Distance data bytes 1-2: 16-bit signed distance
in mm, high byte first (-32767 -32768)
Wait Angle Opcode: 157
This command causes Create to wait until it has rotated
through specified angle in degrees. When Create turns
counterclockwise, the angle is incremented. When Create
turns clockwise, the angle is decremented. Until Create
turns through the specified angle, its state does not change,
nor does it react to any inputs, serial or otherwise.
NOTE: This command resets the angle variable that is
returned in Sensors packets 0,  and 6.
• Serial sequence: [157] [Angle high byte] [Angle low byte]
• Available in modes: Passive, Safe, or Full
• Changes mode to: No Change
• Wait Angle data bytes 1-2: 16-bit signed angle in degrees,
high byte first (-32767 -32768)
Wait Event Opcode: 158
This command causes Create to wait until it detects the
specified event. Until the specified event is detected,
Create's state does not change, nor does it react to any
inputs, serial or otherwise.
• Serial sequence: [158] [Event number]
• Available in modes: Passive, Safe, or Full
• Changes mode to: No Change
• Wait Event data byte 1: Signed event number
(1 to 20 and -1 to -20)
iRobot Create Open Interface (OI) Specification
Data Bytes:  To wait for the inverse of an event, send the negative of
its number using two's complement notation. For example,
to wait for no bumps, send the serial byte sequence [158]
[-5], which is equivalent to [158] [251].
Wait Event: Unsigned Equivalent of Inverse
Event
Wheel Drop
Front Wheel Drop
Left Wheel Drop
Right Wheel Drop
Bump
Left Bump
Right Bump
Virtual Wall
Wall
Cliff
Left Cliff
Front Left Cliff
Front Right Cliff
Right Cliff
Data Bytes: 
Home Base
Advance Button
Play Button
Digital Input 0
Digital Input 1
Digital Input 2
Digital Input 3
OI Mode = Passive
Data Bytes: 1
signed
Number Unsigned Equivalent of Inverse
1 255
2 254
3 253
4 252
5 251
6 250
7 249
8 248
9 247
10 246
11 245
12 244
13 243
14 242
15 241
16 240
17 239
18 238
19 237
20 236
21 235
22 234
16