Dead reckoning and object avoidance experiment
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Sparki explorer experiemnt
Goal is to have Sparki explore a flat space
with reasonable obstructions using a random
walk and ultrasonic ping, and return to its
origin or resume exploring upon command
from the IR remote
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IR Commands:
1 = Start Exploring
2 = Return to "home" (location where exploration started)
3 = Stop and set current location to "home"
LEFT = decrease maximum range Sparki is allowed to explore (min = 40 cm)
RIGHT = increase maximum range Sparki is allowed to explore
MINUS = decrease the number of steps Sparki takes per loop when moving or rotating
PLUS = increase the number of steps Sparki takes per loop when moving or rotating
LED Status:
Green = at Home
Blue = exploring
Red = returning home