Basic Sparki program for obstacle avoidance using the ultrasonic sensor
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README.md
SparkiWanderer.ino

README.md

SparkiWanderer

Basic Sparki program for obstacle avoidance using the ultrasonic sensor

This program moves Sparki around and uses the servo mounted ultrasonic range finder to avoid colisions. Here's a basic overview of the program...

  • Move forward until;
    • An obstacle is detected 20cm in front of Sparki, or
    • It has been too long since Sparki detected shrinking distance between it and an obstacle
  • When either condition is encountered, Sparki will look around and find another path forward by sampling range to an obstacle at different angles and picking the clearest path

Note: the second condition is intended to catch the situations where sparki has gotten stuck on an obstacle which was out of view of the ultrasonic range finder