A Reminder of Simplicity

[KenWittlief]

Mtrawls

great thinks mind alike!

we do exactly the same thing, except we us a yaw rate sensor integrated to give relative heading to measure the turn right or left

it works extreemly well

also - we dont use interrupts for the IR sensors - if you connect them to rc_dig_in01 and 02 there are interrupt flags that get set if the sensor toggles the input pin - all you have to do is poll the flag, see if its set, and if it is then you know the sensor saw the beacon (and you clear the flag in SW)

we did notice the sensors pick up stray triggers once in a while, so we wait until we see it in the SW loop 3 times in a row (about a 1/8th of a second)

great job - simple things work the best.