Well, I could do this this way: first of all the robots scans for light, if it gets 2 lights it sums up the tilt it made for each light. According to this I can calculate the angle my robot is from both of the lights, and know the angles of the triangle between light #1, light #2 and the robot (according to each tilt with the servo tracking). Then I can know exactly where I am according to the lights and eventually according to the spider legs.
If there is only 1 light straight ahead then the sum of the tilt would be zero, and my robot will have to go straight ahead.
Tell me if you think this idea is good
