autonomous IR Navigation

[Mark McLeod]

The default navigate code:

- Waits for joystick button to be pushed
- Drives straight away from the back wall
- Locks the IR sensors centered facing forwards
- Turns the robot until the IR sensor locks onto the beacon
- Starts tracking with the IR sensor servos
- Drives the robot towards the beacon
- Stops robot when the IR sensors servos are at a particular angle.

These directives all occur in the navigate.c file. You can add your own code at the end where it says:

case AT_TARGET:

To run properly under autonomous you will have to at least modify the software in user_routines_fast.c (move the call to navigate(); up to User_Autonomous_Mode). The angle the sensor servos are at will depend on your robot and IR sensor mounting. Look in navigate.h at

#define LEFT_GOAL 135
#define RIGHT_GOAL 120

127 should be straight ahead, 120 is off to the side a little bit, 135 is of to the same side somewhat more. A reflection of how far apart the IR sensor servos are.
There are other parameters in navigate.h that you'll need to tweak to match your robot.