I purchased Ingo's board and a new roomba motor to make sure this all runs forever. I recently took the gearbox apart to replace the motor and give it the once over. Now that its all back together, I noticed that during test mode the trunk sees the opto but stops just after it leaving the switch open. Anyone have any ideas on why it would do that? Of course after it not stopping on the opto, it gets confused and stops working all together. ugh..

Well, its possible, but on the old motor the red dot was closest to the negative terminal, so I put it back there. I think it would go backwards if it was wrong and its definitely going the right way. I love how fast it goes, but I think its just too fast. There is a possibility that I bought the wrong motor, although it 100% fits and works.