My department recently purchased Irobot create 2. We want to recreate the code from the Csharp create 2 driving Tether program to use as a base for our intro to computer science course. Currently the code we are using to talk to the Irobot is http://www.robotappstore.com/Knowledge-Base/How-to-program-Roomba-for-NET-developers/23.html. Not sure if the irobot is getting the commands as well as if the serial port is making a connection. We are using Visual Studio 2012 as the programming environment. Any recommendation and or input would be appreciated.