My sumo roomba is running around but has a lot of tweaking yet to be completed.
To do list:
Fix the IR sensor interface, it’s flaky.
Add bumper sensors & code to turn into them.
I probably put too much work into measurements and sensors monitoring. I have a tablet that I can monitor most items in case I want to record anything. It’s bluetooth (the only use for the bluetooth module). You’ll note it runs on two PICs, one for drive and offense/defense, the other for monitoring, communication, and subsystem work. The battery was bad so I dropped a 12V 1.2AH SLA into the case.. not the best fix but it works fine.
