Jacob Perron

@hcl337 Perhaps with a proper Serial cable it is possible, but I think the necessary wakeup command would need to be added to libcreate.

@hcl337 I attempted your suggestion for hardware flow control mentioned in [create_autonomy #47](https://github.com/AutonomyLab/create_autonomy/issues/47), but I guess it requires a proper BRC/RTC connection. I'm not sure if my cable is connected...

Good to know. You're right that some significant changes (or additions) to the Serial class would have to be made in order to support older Roomba models.

@lopsided98 What do you think about having separate `SerialStream` and `SerialQuery` classes that inherit the same interface? Then the method of acquiring sensor data over serial can be determined at...

We could keep it simple and always request packet group 0. This provides all sensors available on older Roombas and a minimal set for newer models. By default we should...

Note, there is only one small difference between the old and new protocols wrt packet group 0 and the **10th byte**: **Right dirt detect** (old) vs. **Unused byte** (new)

Indeed. After some reading around the internet it would appear that some 400 Series Roombas are compatible with the OI Spec V2 (ie. this driver). @lopsided98 Do you have the...

I thought it was documented, but I realize now that I emailed iRobot support a while ago and I was told any firmware version older than `3.4.1` has issues reporting...