here is a link were Ive found codes for programming the roomba, http://i-borg.engr.ou.edu/~dmiller/create/
create library code
http://i-borg.engr.ou.edu/~dmiller/create/createlib.ic.txt
list of programming resorses
http://dhsbotball.pbwiki.com/InteractiveC
zip file of a bunch of programs
http://dhsbotball.pbwiki.com/f/programs.zip
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