The fantastic thing about hacking on Roombas is that iRobot utilized high quality parts to develop them. [Jason] got his hands on a damaged 5XX series Roomba as well as published an article about exactly how he reused the salvaged parts.
What you see above is one of the results of his work. This bit bot takes commands from an IR television remote control. however he likewise utilized the configuration to make a self-balancing bot. The two motors from the Roomba have magnetic rotary encoders with 8-bit resolution. pair this with a well-tuned PID algorithm as well as you’re in business. The video below shows him testing a motor with his PID code.
You don’t get extremely much information on the digestive tracts of the donor robot. If that’s what you’re looking for you requirement to look at [Dino’s] Roomba 4000 teardown.