On Friday 2.10.12, I continued to test and make adjustments. I figured out the avoid obstacles problem by increasing the range for movement (50" to 6"). I also was able to test the flame sensor range and found better values to allow the Square Bot to function properly. The straight path runs were fine. The turns were not fine. When I tested a few lines of code, a straight with one turn, it worked fine. When I added more lines of code to run more paths and turns it did not work fine. The turns were over by about 20 degrees. I ran out of time to test more runs and make more adjustments.
At the Competition on 2.11.12 in Cal State Long Beach the same problem occurred, over turn by 20 degrees. The Square Bot wasn't able to complete the course.
In the video below, following the competition, we tested the first path to the first room and the Bot made the right turns with no problem to our surprise!
Also, the video below shows that our Bot was able to scan, locate, and put out the candle flame.
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