I took a little time to look at the design for a simple UI for the Roombaduino. I needed to know the voltage level, which brushes are in operation and what mode the Roomba is in.
During this, I was getting a notification from the Arduino IDE that I was going to run low on memory using the example sketches and some of this is down to including the Serial library for debugging output. Once I stopped using that, the sketch was at 44% memory usage compared for 65%. Given that the amount of memory available