todbot.com roomba hacking
For more details, check out the blog posts:
http://todbot.com/blog/2006/01/25/roomba-hacking-via-serial-tether/
http://todbot.com/blog/2006/02/06/roomba-bluetooth-interface/
http://todbot.com/blog/2006/02/14/roombacomm-roomba-control-communications-api-release-0/
And the Makezine posts:
http://www.makezine.com/blog/archive/2006/02/how_to_make_a_roomba_serial_in.html
http://www.makezine.com/blog/archive/2006/02/how_to_roomba_bluetooth_interf.html
Directories under this one:
rooomba_drawtst
roombacomm/