Neato Control Program here at thread
http://www.kelrobot.fr/forum/programme-affichage-donnees-neatocontrol-usb-t2913.htmlby a Russian programmer Neato user; download from Russian website; multi-lingual.
Note some sensors, I think mag strip sensor, requires "Test Mode" enabled.
The program provides a graphics interface using text commands supported in Neato firmware. The USB Programming Manual is no longer posted at Neato Robotics website, but a version is available at english site robotreviews.com:
http://www.robotreviews.com/files/programmersmanual_20140305.pdfI can also email a copy of the original manual.
The text commands can be used with a terminal emulator program and also sent in an option within the Neato Control Program, enhanced with a repetition and data logging feature.
Remember "Test Mode" must be turned off when exiting the program or manually in text operation. Do not disconnect the USB before exiting normally from Neato Control so it executes a proper termination.
When attempting to clean over USB -- with a command -- the robot may demand the USB cable be disconnected to allow freedom of movement. However, it can be reconnected after the robot starts to clean -- with proper hardware setup or control of the USB ports on the PC (some utilities from Microsoft for this, don't know Apple).
There is a separate USB command to spin the lidar and to conduct the data scan. It is then possible to observe the turret starting to spin with the spin command.
The most common lidar failure is wear on the spin motor, which has been replaced by several users with standard motors (the part number is on the motor); the red and black leads usually need to be reversed with replacements for correct rotation direction.