iRobot CREATE - OPEN INTERFACE Manual page 19

Angle Packet ID: 0
The angle in degrees that iRobot Create has turned since the
angle was last requested is sent as a signed 16-bit value, high
byte first. Counter-clockwise angles are positive and clockwise
angles are negative. If the value is not polled frequently
enough, it is capped at its minimum or maximum.
Range: -32768 – 32767
NOTE: Create uses wheel encoders to measure distance
and angle. If the wheels slip, the actual distance or angle
traveled may differ from Create's measurements.
Charging State Packet ID: 1
This code indicates Create's current charging state.
Range: 0 - 5
Code Charging State
0 Not charging
1 Reconditioning Charging
2 Full Charging
3 Trickle Charging
4 Waiting
5 Charging Fault Condition
Voltage Packet ID: 
This code indicates the voltage of Create's batter y in
millivolts (mV).
Range: 0 – 65535
Current Packet ID: 3
The current in milliamps (mA) flowing into or out of Create's
battery. Negative currents indicate that the current is flowing
out of the battery, as during normal running. Positive currents
indicate that the current is flowing into the battery, as during
charging.
Range: -32768 – 32767
iRobot Create Open Interface (OI) Specification
Data Bytes:  Battery Temperature
signed
The temperature of Create's battery in degrees Celsius.
Range: -128 – 127
Battery Charge
The current charge of Create's battery in milliamp-hours (mAh).
The charge value decreases as the battery is depleted
during running and increases when the battery is charged.
Note that this value will not be accurate if you are using the
alkaline battery pack.
Data Bytes: 1
Range: 0 – 65535
unsigned
Battery Capacity
The estimated charge capacity of Create's battery in milliamp-
hours (mAh). Note that this value is inaccurate if you are using
the alkaline battery pack.
Range: 0 – 65535
Wall Signal
Data Bytes:  The strength of the wall sensor's signal is returned as an
unsigned 16-bit value, high byte first.
unsigned
Range: 0-4095
Cliff Left Signal
The strength of the left cliff sensor's signal is returned as an
Data Bytes: 
unsigned 16-bit value, high byte first.
signed
Range: 0-4095
Cliff Front Left Signal
The strength of the front left cliff sensor's signal is returned as
an unsigned 16-bit value, high byte first.
Range: 0-4095
Packet ID: 4 Data Bytes: 1
Packet ID: 5 Data Bytes: 
Packet ID: 6 Data Bytes: 
Packet ID: 7 Data Bytes: 
Packet ID: 8 Data Bytes: 
Packet ID: 9 Data Bytes: 
signed
unsigned
unsigned
unsigned
unsigned
unsigned
19