Download MyBot001_2009_05_18.pde
It is more modulized now.
But I still put everything in one file.
Because it is much easy for me to look for the code.
Will make it a group of library when eveyrthing are much stable.
Now it just random walking and avoid objects.
IR & Compass/Acceleration Sensor Driver are all ready.
To Do List
1.Stall Detection
2.X,Y and Robot Heading Calculation
3.Target Driven Operation (This can solve stall problem,too)
PS.Robot is a complex system. Some problem can be solved by building higher level of abstraction like Short Rang Map or Absoluate coordination .
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