Using the SCI messages, I would like to determine the current operating mode or state of a iRobot Roomba 780. Finally, I would like to detect and separate four states:
- In docking station
- Returning to docking station
- Error (e.g. trapped on obstacle)
What is a fast and reliable way to detect those states using SCI data?
The Roomba SCI Sensor packets "Remote Control Command" and "Buttons" seem to return the currently called commands and not the currently executed ones.