Safe mode introduces some safety-related exceptions when you can not control all the actuators:.Full mode gives you complete control over Roomba (no safety restriction as it is for Safe and Passive mode).Roomba 500+ can operate in one of four modes: You can find more information about Roomba Open Interface in this document. In this step you will find examples of common commands used to control the Roomba series 500. High capacity battery pack 5V (at least 10 Ah) x1.5V Step-Down Voltage Regulator D24V6F5 x1.BTM-222 bluetooth module or other working at 115200 baud rate x1.Later I will show you how to run video streaming based on the RPi and finally I outline the plan for further development of this project. At the beginning I will describe how to remote control of Roomba via bluetooth and Android app. In this instruction you will learn how to add some useful features to your Roomba. All makers should try the Roomba Open Interface (OI) to find out how easy it is to control this robot. Most of us use iRobot Roomba robots only for vacuuming, but few know that it is a great base for a new robotic projects.

Roomba racing