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NOTE: Create 2 and Roomba 500/600 firmware versions prior to 3.3.0 return an incorrect value for sensors measured in millimeters. It is recommended that you read the left and right encoder counts directly (packets IDs 43 and 44) and do the unit conversion yourself.
To determine the firmware version on your robot, send a 7 via the serial port to reset it. The robot will print a long welcome message which will include the firmware version, for example: r3_robot/tags/release-3.3.0.

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