Roomba Model 4230 control code

#include <SoftwareSerial.h>

#define clamp(value, min, max) (value < min ? min : value > max ? max : value)

SoftwareSerial mySerial(13, 12); //rx,tx
int ddPin = 7;

void wake(int pin) {
  digitalWrite(ddPin, HIGH);
  digitalWrite(ddPin, LOW);
  digitalWrite(ddPin, HIGH);
}

void setup() {
  pinMode(ddPin,  OUTPUT);
  mySerial.begin(57600);
  Serial.begin(9600);
  //Use Device Detect to wake Roomba
  wake(ddPin);
  //Initialize Roomba SCI
  // Start SCI
  mySerial.write(128);
  delay(100);
  // Enable control
  mySerial.write(130);
  delay(100);
  // Enable full control, no safety, all commands
  mySerial.write(132);
}

// the loop function runs over and over again forever
void loop() {
  greenStatusOn();
  forward(100s);
  delay(5000);
  redStatusOn();
  mySerial.write(173);
  delay(100000);
}

void forward(int v) {
  mySerial.write(137);
  mySerial.write((byte)(v >> 8));
  mySerial.write((byte)v);
  mySerial.write((byte)(0x8000 >> 8));
  mySerial.write((byte)0x8000);
}

void greenStatusOn() {
  mySerial.write(139);       // control LEDs opcode
  mySerial.write(32);        // Status On Green 00100000 Binary = 32 Decimal
  mySerial.write((byte)0);   // Power Color Green
  mySerial.write(255);       // Intensity set to full
}

void redStatusOn() {
  mySerial.write(139);        // control LEDs opcode
  mySerial.write(16);         // Status On Green 00010000 Binary = 16 Decimal
  mySerial.write(255);        // Power Color Red
  mySerial.write(255);        // Intensity set to full
}