autonomous IR Navigation

[CharlieWilken]

I was wondering if someone who understands C could explain in a couple of paragraphs what Kevin's Navigation program does with regards to the robots behavior.

1. How does the robot initally move forward by dead reckoning?
2. When does the robot begin to turn and how far does it go.
2 and 1/2 what ports and pins are being employed.
3. When does the robot stop.
4. Where does the program assume the sensors are located
5. Does the program end at some point and where could one put
further instructions. l

Another words can someone give me a detailed description of what Kevin's autonomous program does and how it works.

Thanks in advance