code: public boolean setCarpetMode(boolean enabled, int high, int low, int integral, int stallTime) throws CommandExecutionException {
          JSONObject payload = new JSONObject();
          payload.put("enable", enabled ? 1:0);
          payload.put("current_high", high);
          payload.put("current_low", low);
          payload.put("current_integral", integral);
          payload.put("stall_time", stallTime);
          JSONArray send = new JSONArray();
          send.put(payload);
          return sendOk("set_carpet_mode", send);
      }
docs: Change the carped cleaning settings.
  @param enabled Weather the carped cleanup mode should be enabled.
  @param high The high parameter of the carped cleanup.
  @param low The low parameter of the carped cleanup.
  @param integral The integral parameter of the carped cleanup.
  @param stallTime The stall time parameter of the carped cleanup.
  @return True if the command has been received successfully.
  @throws CommandExecutionException When there has been a error during the communication or the response was invalid.