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Can someone please provide me with a list of sensors on the create 2? I am hoping to get one soon, but want to be sure it has ultrasonic sensors and not just bump sensors before I do.

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  • $\begingroup$ Is this information not available in the iRobot Create 2 manual? $\endgroup$ – Mark Booth Jul 8 '15 at 16:56
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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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  • $\begingroup$ Can these be used as rangefinders or only as binary "bump" sensors? $\endgroup$ – bmh Jul 11 '15 at 14:47

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