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1 1  {{html wiki="false" clean="true"}}
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2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><b><font size="2" face="Verdana">A4WD1 Tutorial for Autonomous Behavior v1.0</font></b>
5 + <p><b><font size="2" face="Verdana">Updated 12/20/2011</font></b></p>
6 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
7 + <p><font size="2" face="Verdana">Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to the
8 + Lexan.</font></p>
9 + <p><font size="2" face="Verdana">Note: This guide follows the assembly guide. The Sabertooth has already been installed.</font></p>
10 + <p><font size="2" face="Verdana"><b>Software:<br>
11 + </b>&nbsp; - Basic Micro Studio</font></p></td>
12 + <td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton03.jpg" border="2" hspace="10" ><br>
13 + <b>Image of A4WD1.</b></font></td>
14 + </tr>
15 + <tr>
16 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font>
17 + <hr color="#808080">
18 + </td>
19 + </tr>
20 + <tr>
21 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
22 + </tr>
23 + <tr>
24 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step 1. Mounting the Bot Board II</font></b><font size="2" face="Verdana"><br>
25 + Add the four standoffs for the Bot Board II to the robot's top panel as shown. Use four .250" hex socket head screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
26 + &nbsp;</font>
27 + <table border="0" >
28 + <tbody><tr>
29 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
30 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
31 + </tr>
32 + <tr>
33 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4250hscs.gif" ></b></font></td>
34 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4375hns.gif" ></b></font></td>
35 + </tr>
36 + </tbody></table>
37 + </td>
38 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1p01.jpg" border="2" hspace="10" ><br>
39 + Figure 1.</font></td>
40 + </tr>
41 + <tr>
42 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
43 + </tr>
44 + <tr>
45 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step 2.</font></b><font size="2" face="Verdana"><br>
46 + Install the Bot Board as shown, using four of the .250" 4-40 screws. Install the Atom Pro chip as shown.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
47 + &nbsp;</font>
48 + <table border="0" >
49 + <tbody><tr>
50 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
51 + <td ><font size="2" face="Verdana"><b>Atom Pro Orientation:</b></font></td>
52 + </tr>
53 + <tr>
54 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4250hscs.gif" ></b></font></td>
55 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/aproinst.gif" ></b></font></td>
56 + </tr>
57 + </tbody></table>
58 + </td>
59 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1p02.jpg" border="2" hspace="10" ><br>
60 + Figure 2.</font></td>
61 + </tr>
62 + <tr>
63 + <td valign="top" align="left" colspan="2"><br class="pb">
64 + </td>
65 + </tr>
66 + <tr>
67 + <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 3. Connecting Sabertooth to Bot Board II</b><br>
68 + The Sabertooth 2x10 R/C was primarily designed to be connected to a remote control receiver. It has a BEC (battery elimination circuit) that
69 + puts 5vdc on the red wires to power the receiver. Because the Bot Board II has its own power supply, it is necessary to bypass the BEC.</font>
70 + <p><font size="2" face="Verdana">Use an exacto knife to <b>carefully</b> pry the black tab up and slip the red wire out of the black housing as
71 + shown in Figure 3.</font></p>
72 + <p><font size="2" face="Verdana">Bend the red wires up and use electrical tape to cover them as shown. This will prevent accidental shorts.</font></p>
73 + </td>
74 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/stbec.jpg" border="2" hspace="10" ><br>
75 + Figure 3.</font></td>
76 + </tr>
77 + <tr>
78 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
79 + </tr>
80 + <tr>
81 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step 4.</font></b><font size="2" face="Verdana"><br>
82 + Refer to Table 4 and the schematic (Figure 4) for Bot Board II and Sabertooth wiring connections. Double check your wiring. Make sure the red
83 + battery wire goes to the (+) terminal!</font></td>
84 + <td align="center" valign="top" >
85 + <div align="center">
86 + <center>
87 + <table border="0">
88 + <tbody><tr>
89 + <td >
90 + <table border="1" bordercolor="#000000" >
91 + <tbody><tr>
92 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers
93 + &amp; Connections</font></td>
94 + </tr>
95 + <tr>
96 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
97 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6vdc battery to VS</font></td>
98 + </tr>
99 + <tr>
100 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
101 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
102 + </tr>
103 + <tr>
104 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
105 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">A, B, C Button</font></td>
106 + </tr>
107 + <tr>
108 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
109 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VS to VL</font></td>
110 + </tr>
111 + <tr>
112 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
113 + Connections</font></td>
114 + </tr>
115 + <tr>
116 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
117 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">12vdc battery</font></td>
118 + </tr>
119 + <tr>
120 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch1</font></td>
121 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P0</font></td>
122 + </tr>
123 + <tr>
124 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch2</font></td>
125 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P1</font></td>
126 + </tr>
127 + </tbody></table>
128 + </td>
129 + </tr>
130 + <tr>
131 + <td >
132 + <p align="center"><font size="2" face="Verdana">Table 4</font></p></td>
133 + </tr>
134 + </tbody></table>
135 + </center>
136 + </div></td>
137 + </tr>
138 + <tr>
139 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
140 + </tr>
141 + <tr>
142 + <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 5.</b><br>
143 + Set the Sabertooth switches to the settings listed in Table 5 and Figure 5.<br>
144 + &nbsp;</font>
145 + <div align="center">
146 + <center>
147 + <table border="0">
148 + <tbody><tr>
149 + <td >
150 + <table border="1" bordercolor="#000000" >
151 + <tbody><tr>
152 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
153 + Settings</font></td>
154 + </tr>
155 + <tr>
156 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">1</font></td>
157 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Independent Control</font></td>
158 + </tr>
159 + <tr>
160 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">2</font></td>
161 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Exponential</font></td>
162 + </tr>
163 + <tr>
164 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">3</font></td>
165 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Non-Lithium Mode</font></td>
166 + </tr>
167 + <tr>
168 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">4</font></td>
169 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">R/C Flip Mode</font></td>
170 + </tr>
171 + <tr>
172 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">5</font></td>
173 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Autocalibrate</font></td>
174 + </tr>
175 + <tr>
176 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">6</font></td>
177 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Timeout</font></td>
178 + </tr>
179 + </tbody></table>
180 + </td>
181 + </tr>
182 + <tr>
183 + <td >
184 + <p align="center"><font size="2" face="Verdana">Table 5</font></p></td>
185 + </tr>
186 + </tbody></table>
187 + </center>
188 + </div>
189 + </td>
190 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/st10rc02.gif" border="2" hspace="10" ><br>
191 + Figure 5.</font></td>
192 + </tr>
193 + <tr>
194 + <td valign="top" align="left" colspan="2"><br class="pb">
195 + </td>
196 + </tr>
197 + <tr>
198 + <td valign="top" align="left" colspan="2">
199 + <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 5.<br>
200 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1sch7.gif" ><br>
201 + Schematic - Figure 5.</b></font></p>
202 + </td>
203 + </tr>
204 + <tr>
205 + <td valign="top" align="left" colspan="2"><br class="pb">
206 + </td>
207 + </tr>
208 + <tr>
209 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6. Programming the Atom Pro</b><br>
210 + Download the <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl">BASIC Micro Studio</a> development
211 + software. Install and run the program on your PC. The goal here is to load a program into the editor and program the Atom Pro with the code. You
212 + can use the serial port (D shaped connector with 9 pins sticking out) or a USB-to-serial cable. If you go the USB-to-serial cable route buy a
213 + good quality name brand unit. When you have a feel for the program you can load and program your Basic Atom with the BASIC programs listed
214 + below.</font>
215 + <p><font face="Verdana" size="2">Now it's time to have some fun!</font></p>
216 + </td>
217 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/comp.jpg" border="2" hspace="10" ><br>
218 + Figure 6.</font></td>
219 + </tr>
220 + <tr>
221 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
222 + </tr>
223 + <tr>
224 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 7.</font></b><font size="2" face="Verdana"><b>
225 + Differential or Tank Mode Test (Required)</b><br>
226 + Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1tst2.zip" target="_blank">a4wd1tst2.zip</a>) and run it. For this program, on the Bot Board II,
227 + the "A" button is left channel throttle, "C" button is right channel throttle, and "B" is a speed and direction
228 + reset.</font>
229 + <p><font size="2" face="Verdana">This program requires the Sabertooth's Switch 1 to be flipped to the "Off" or "Independent
230 + Control" position.</font></p>
231 + <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes. Pressing A once results in a beep and slow
232 + forward motion (10%) on the left channel only. Pressing nine more times results in 100% power. Continuing to press A will make the motor act as
233 + above, except only for the right channel. The C button will control the left motor in a similar manner. Pressing the B button will reset the
234 + speed and direction of both left and right.</font></p>
235 + <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The green Status1 LED
236 + will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out
237 + the detected number of lithium cells when lithium mode is enabled.</font></p></td>
238 + </tr>
239 + <tr>
240 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
241 + </tr>
242 + <tr>
243 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 8.</font></b><font size="2" face="Verdana"><b>
244 + Throttle and Steering Mode Test (Optional)</b><br>
245 + This program requires the Sabertooth's Switch 1 is flipped into the "On" or "Enable Mixed Mode" position!</font>
246 + <p><font size="2" face="Verdana">Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1tst1.zip" target="_blank">a4wd1tst1.zip</a>) and run it. For
247 + this program, on the Bot Board II, the "B" button is throttle and the "A" and "C" buttons are steering.</font></p>
248 + <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes.&nbsp; Pressing B once results in a beep and
249 + slow forward motion (10%). Pressing nine more times results in 100% power. After the motor is at 100% power, pressing B will reduce the speed in
250 + 10% increments until it stops. Continue to press B to make the robot move as above, only in reverse.</font></p>
251 + <p><font size="2" face="Verdana">Press Reset, then B twice. Now press C a few times to see the robot make a gradual left turn. Pressing A a few
252 + times will return to forward motion, and continuing to press A will result in gradual right turn.</font></p>
253 + <p><font size="2" face="Verdana">Experiment with these buttons to understand how throttle and steering can be used to control the vehicle's
254 + motion.</font></p>
255 + <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The green Status1 LED
256 + will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out
257 + the detected number of lithium cells when lithium mode is enabled.</font></p>
258 + <p><font size="2" face="Verdana"><i>When you're done with this testing program, flip the Sabertooth's Switch 1 back into the "Independent
259 + Control" position!</i><br>
260 + &nbsp;</font></p></td>
261 + </tr>
262 + <tr>
263 + <td valign="top" align="left" colspan="2"><br class="pb">
264 + </td>
265 + </tr>
266 + <tr>
267 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 9.</font></b><font size="2"><br>
268 + Now it's time to set up the A4WD1 for autonomous behavior.</font></font>
269 + <p><font size="2" face="Verdana">The code supports three Sharp GP2D12 sensors; two in the front and one in the back.</font></p></td>
270 + <td align="center" valign="top" >
271 + <div align="center">
272 + <center>
273 + <table border="0">
274 + <tbody><tr>
275 + <td >
276 + <table border="1" bordercolor="#000000" >
277 + <tbody><tr>
278 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers
279 + &amp; Connections</font></td>
280 + </tr>
281 + <tr>
282 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
283 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">AX 0-3 Power Bus Jumper to 5v</font></td>
284 + </tr>
285 + <tr>
286 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX1</font></td>
287 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Robot's front left sensor</font></td>
288 + </tr>
289 + <tr>
290 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX2</font></td>
291 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Robot's front right sensor</font></td>
292 + </tr>
293 + <tr>
294 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX3</font></td>
295 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Rear sensor</font></td>
296 + </tr>
297 + <tr>
298 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td>
299 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch1</font></td>
300 + </tr>
301 + <tr>
302 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
303 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch2</font></td>
304 + </tr>
305 + </tbody></table>
306 + </td>
307 + </tr>
308 + <tr>
309 + <td >
310 + <p align="center"><font size="2" face="Verdana">Table 9</font></p></td>
311 + </tr>
312 + </tbody></table>
313 + </center>
314 + </div>
315 + </td>
316 + </tr>
317 + <tr>
318 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
319 + </tr>
320 + <tr>
321 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
322 + Attach two GP2D12 sensors to the chassis as shown, using either double-sided foam tape or optional multi-purpose sensor housing brackets. The
323 + exact angle isn't critical, but will affect the robot's behavior. Experimentation is encouraged.</font>
324 + <p><font face="Verdana" size="2">Make sure you place the robot's right sensor on the robot's right side, facing left! Place the robot's left
325 + sensor on the robot's left side, facing right! This overlap ensures there isn't a blind spot in the center. If you switch the positions of the
326 + sensors accidentally, the robot will turn <i>into</i> objects, instead of away.</font></p>
327 + <p><font face="Verdana" size="2">Attach the other GP2D12 sensor at the rear of the robot as shown. Use double-sided foam tape to hold it in
328 + place.</font></p></td>
329 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton01.jpg" border="2" hspace="10" ><br>
330 + Figure 10.</font></td>
331 + </tr>
332 + <tr>
333 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
334 + </tr>
335 + <tr>
336 + <td valign="top" align="left" colspan="2">
337 + <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 11.<br>
338 + &nbsp;<br>
339 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1sch6.gif" ><br>
340 + &nbsp;<br>
341 + Schematic - Figure 11.</b></font></p>
342 + </td>
343 + </tr>
344 + <tr>
345 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
346 + </tr>
347 + <tr>
348 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 12.</font></b><font size="2"><br>
349 + </font></font><font size="2" face="Verdana">Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1auto.zip" target="_blank">4wd1auto.zip</a>) and
350 + program the Atom Pro. You will want to set the bot on something so that the wheels aren't touching the ground.</font>
351 + <p><font size="2" face="Verdana">This program allows the robot to roam around the room without bumping into things. It uses three Sharp GP2D12
352 + analog distance sensors to "see" things in its environment. Feel free to experiment with the variables and math in the main section of
353 + the program. The robot does a very good job navigating without getting stuck. The motor control is based on the GP2D12 sensors with a bias for
354 + forward motion. The robot will sometimes back up and turn even though there are no specific instructions to do so. Look for this and other
355 + emergent behaviors during your experimentation.</font></p></td>
356 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton02.jpg" border="2" hspace="10" ><br>
357 + Figure 12.</font></td>
358 + </tr>
359 +</tbody></table>
360 +</body>
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