iRobot CREATE - OPEN INTERFACE Manual page 18

Unused Bytes Packet IDs: 15 - 16
Unused bytes: Two unused bytes are sent after the overcurrent
byte when the requested packet is 0, 1, or 6. The value of the
two unused bytes is always 0.
Range: 0
Infrared Byte Packet ID: 17
This value identifies the IR byte currently being received
by iRobot Create. A value of 255 indicates that no IR byte
is being received. These bytes include those sent by the
Roomba Remote, the Home Base, Create robots using the
Send IR command, and user-created devices.
Range: 0 – 255
Dock beam configuration
Force Field
Green
Buoy
Sent by iRobot Device Character Value
Remote Control 129
130
131
132
133
134
135
136
137
138
139
140
141
iRobot Create Open Interface (OI) Specification
Data Bytes: 1
Data Bytes: 1
unsigned
Red
Buoy
Character Name
Left
Forward
Right
Spot
Max
Small
Medium
Large / Clean
PAUSE
Power
arc-forward-left
arc-forward-right
drive-stop
Sent by iRobot Device Character Value
Scheduling Remote 142
143
Home Base 240
248
244
242
252
250
246
254
Buttons Packet ID: 18
The state of Create's Play and Advance buttons are sent as
individual bits (0 = button not pressed, 1 = button pressed).
Range: 0 - 5
Bit 7 6 5 4
Button n/a n/a n/a n/a n/a Advance
Distance Packet ID: 19
The distance that Create has traveled in millimeters since the
distance it was last requested is sent as a signed 16-bit value,
high byte first. This is the same as the sum of the distance
traveled by both wheels divided by two. Positive values indicate
travel in the forward direction; negative values indicate travel
in the reverse direction. If the value is not polled frequently
enough, it is capped at its minimum or maximum.
Range: -32768 – 32767
Character Name
Send All
Seek Dock
Reserved
Red Buoy
Green Buoy
Force Field
Red Buoy and Green Buoy
Red Buoy and Force Field
Green Buoy and Force
Field
Red Buoy, Green Buoy and
Force Field
Data Bytes: 1
3 2 1 0
n/a Play
Data Bytes: 
unsigned
signed
18