For this lab you will program your robot to seek light while also avoiding obstacles. Your robots will be tested in a series of progressively more difficult configurations. First you must be able to find the light in an open space when started facing away from the light. Next you must find the light when there is a single obstacle in front of the light. Then you must find the light when there is a U-shaped obstacle in front of the light. Finally you must find the light when there is a wall in front of the light with a narrow hallway leading to it. Note: you must use the same Micro C program for all four situations.

Grading will be based on the overall functionality of your robot. Your robot should be able to pass tests 1, 2, and 3 but test 4 is more difficult. The starting orientation of the robot is arbitrary. In other words it may not be directly facing the light source.

Each of you should discuss the expected behavior of your robot and its resulting actions in your lab books. What is the strategy for avoiding walls? For going around obstacles? How do the sensors detect various conditions in the world?