Sooo here is something: I have actually been developping my own Lego Mindstorms Roomba in the past and built 4 different versions of it, each newer one with optimizations and I'm getting pretty close to a really good design but unfortunatly I neither saved any building instructions for any of them nor have the programs anymore. They got lost when I accidently formated the wrong drive together with a bunch of other projects that I haden't backed up :(