Roomba SCI is a serial protocol that allows users to control a Roomba through its external serial port (Mini-DIN connector). The SCI includes commands to control all of Roomba’s actuators (motors, LEDs, and speaker) and also to request sensor data from all of Roomba’s sensors. Using the SCI, users can add functionality to the normal Roomba behavior or they can create completely new operating instructions for Roomba.

Serial Port Settings
Baud: 57600 or 19200 (see below)
Data bits: 8
Parity: None
Stop bits: 1
Flow control: None
By default, Roomba communicates at 57600 baud. If you are using a microcontroller that does not support 57600 baud, there are two ways to force Roomba to switch to 19200:

Method 1: When manually powering on Roomba, hold down the Power button. After 5 seconds, Roomba will start beeping. After 10 seconds, Roomba will play a tune of descending pitches. Roomba will now communicate at 19200 baud until the battery is removed and reinserted (or the battery voltage falls below the minimum required for processor operation) or the baud rate is explicitly changed via the SCI.

Method 2: You can use the Device Detect to change Roomba’s baud rate. After you have awakened Roomba (using Device Detect or by some other method) wait 2 seconds and then pulse the Device Detect low three times. Each pulse should last between 50 and 500 milliseconds. Roomba will now communicate at 19200 baud until the battery is removed and reinserted (or the battery voltage falls below the minimum required for processor operation) or the baud rate is explicitly changed via the SCI.
Source: Download specification pdf at http://www.roombadevtools.com/productcart/pc/docs/docs_roombasci.pdf

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Amazon Books

	Creative Projects with LEGO Mindstorms by Benjamin Erwin Buy new: $20.64 / Used from: $13.00 A good place to start, especially for kids, with Lego Mindstorms
	A Practical Guide to Behavior-Based Robotics by Joe Jones Buy new: $20.67 / Used from: $15.13 Very good for programming not so much behavior as control. Language and controller agnostic