3 fix link to most up-to-date spec
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The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The Open Interface SpecOpen Interface Spec calls it the "light bumper".

Package IDs 46-51 (pages 30 and 31) describe the different light bumper IR sensors. They return a 12 bit number (0-4095) which will roughly correspond to distance to an object. However it is highly dependent on the object's material. The "light bumper" packet (45) contains a binary version of all the light bumper sensors together. I don't know what threshold is used for this.

The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The Open Interface Spec calls it the "light bumper".

Package IDs 46-51 (pages 30 and 31) describe the different light bumper IR sensors. They return a 12 bit number (0-4095) which will roughly correspond to distance to an object. However it is highly dependent on the object's material. The "light bumper" packet (45) contains a binary version of all the light bumper sensors together. I don't know what threshold is used for this.

The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The Open Interface Spec calls it the "light bumper".

Package IDs 46-51 (pages 30 and 31) describe the different light bumper IR sensors. They return a 12 bit number (0-4095) which will roughly correspond to distance to an object. However it is highly dependent on the object's material. The "light bumper" packet (45) contains a binary version of all the light bumper sensors together. I don't know what threshold is used for this.

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There is a quick reference for the Roomba's sensors on page 36 of the Open Interface Spec.

The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The specOpen Interface Spec calls it the "light bumper".

Package IDs 46-51 (pages 30 and 31) describe the different light bumper IR sensors. They return a 12 bit number (0-4095) which will roughly correspond to distance to an object. However it is highly dependent on the object's material. The "light bumper" packet (45) contains a binary version of all the light bumper sensors together. I don't know what threshold is used for this.

There is a quick reference for the Roomba's sensors on page 36 of the Open Interface Spec.

The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The spec calls it the "light bumper".

The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The Open Interface Spec calls it the "light bumper".

Package IDs 46-51 (pages 30 and 31) describe the different light bumper IR sensors. They return a 12 bit number (0-4095) which will roughly correspond to distance to an object. However it is highly dependent on the object's material. The "light bumper" packet (45) contains a binary version of all the light bumper sensors together. I don't know what threshold is used for this.

1
source | link

There is a quick reference for the Roomba's sensors on page 36 of the Open Interface Spec.

The Roomba does not have ultrasonic sensors, but it does have quite a few infrared proximity sensors. The spec calls it the "light bumper".