This lab uses sound but doesn't use the LCD (I have added a black jumper wire to disable/enable the LCD). We will also be using the "IR fire detector", "Bumper sensor", "Left IR sensor and "Right IR sensor".

The important thing is to be able to navigate the maze. As in many things, there is more than one way to accomplish the task.

The first method is to just use your bumper and the Fire sensor. It gets the job done but it is slower and you may turn around, a time or two, if your turn times are off a bit. Instructions for implementing this method are given here:
"bumper-sens1.asm"

The second method uses the bumper, the "Right IR sensor" on the way in and "Left IR sensor" on the way out, plus the IR sensor. It gets the job done is generally faster than the first method. It is less likely to inappropriately turn around. Instructions for implementing this method are given here:
"rt-lt-sens1.asm"

The third method is am A.I. adaptive method that attempts to center the robot w/in the walls while it traverse the maze. It can be much faster but is experimental. Careful adjustment of the "Right IR sensor" and "Left IR sensor", as is timing delays are creditcal to proper function. Still, when done right " it works great! ". The starting code is available here:
"ai-sens1.asm"

1. Traverse the maze (use right-wall-following).
2. Find the fire and sound the fire alarm. The fire is our trigger to switch to left-wall-following.
3. Return to the starting place (use left-wall-following).

We will talk about this in class and work through the migration of code to a working robot that can make it through the maze.

*** This is similar to the maze that your robot will need to traverse.

Instructor sign for Maze traversal:_____________________________________________