For all of the advanced software and multitude of sensors why is it that this expensive little robot still gets stuck under beds?
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The final code was never attached as this was meant to be mostly a showcase and unfortunately it's been unintentionally purged from my computer in the 2 years since this was originally posted. However, you can still look up the commands that need to be sent to the roomba in the referenced PDF (https://cdn-shop.adafruit.com/datasheets/create_2_Open_Interface_Spec.pdf). Hope you manage to solve your issue with being stuck in sleep mode.
Thanks for the questions:
1. The clearance for the sensor and furniture can definitely be a problem since it's sitting higher than the Roomba's IR sensor, that's why I initially wanted to use an IR myself instead of an ultrasonic. Fortunately the furniture in the rooms we clean with Roomba have enough clearance where this hasn't been a problem.
Hope that helps
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