Usage of IR and what it takes

[Phil Roth]

AM I missing something here???. After review of the Navigate project for IR receiving, it seems that 4 external interrupts from each sensor are used to check the frequency and then count IR pulses from the beacon. The real time ISR then accumulates how many pulses occur every 26.2MS.

The questions I have are:
The code refers to the EDU controller, which I see has external interrupts clearly marked on the silkscreen, the FULL SIZE controller does not have "seperate" interrupt pins avalable. Can the PIC be configured to use the GPIO pins on the controller as IRQs??

Some other comments:
Also the system is loaded with "fudge factors" which ultimately will determine final accuracy.

There is a foward autonomous run to come off the wall and stop, looking for IR synch. Then hopefully the robot finds, turns, and goes straight.

I'm no IR expert, but the approach seems elegant but painfully slow, having an articulated servo system working the IR sensors then feeding back error information to the drive wheels. I'd like to get there in under 5 seconds.

I noticed K.Watson has been hammerring on this code since November.. good thing, I'd hate to write it from scratch. By the way. Who the heck is Brian, Gail, Patricia and Patrick.????