Interesting - I'd have thought such projects better suited things like crawlers and tanks (can turn on the spot)....nevertheless, a neat idea.
I was having a dig through the code there - it's quite easy to read.
I suppose the next step for you is to get the car to steer while still moving - that may need more IR sensors up front. Ultimately, you'd want an array of fixed ones covering the front 90 degree arc instead of a single moving one for more rapid response. This would allow variable steering values too - atm, it is either full left, centre, or full right. I envisage a calculation for degree of steering lock depending on distance to the next obstacle and motor speed.
I actually think it might manage a race track as it is - there's more space to turn and the barriers are pronounced and obvious (as long as the pipes are high enough!)
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