The commands that are contained in the SCI or ROI document can be sent using a PC Comm package, a USB bluetooth dongle and the Rootooth. Instead of sending IR commands you could send commands like Wakeup, Safemode, drive forward, turn left, turn right, turn on motors (vacuum, side brush, main brush) IRobot
has not provided a new Open Interface document for the 5XX series so it is not know what may or may not work. Using the SCI Tester program my 535 will perform the drive commands but can't turn left. Have not tested the other commands yet.
There is a member of the Create forum that has written a program to control the Create. His name is Joe and he has posted lots of info on his website: http://irobotcreate.googlepages.com/
I downloaded that program and have started using it to talk to my 535 via Rootooth. Give it a spin it's entertaining.