Requirements to be met by the mBot:

1. The mBot must be able to move as required.

• using software-controlled DC motors
• forward, left, right, U-turn (combinations: left+left, right+right)
• identify maximum possible speed during the different movements

2. The mBot must not bump into any wall.

• make use of front ultrasonic sensor x 1, IR side sensor x 2
• should have none - extremely small delay in between checks
• quick & effective correction for immediate collisions
• slow(er) & gentle corrections for eventual collisions

3. Solve waypoint challenges

• identify black strip (4 * 21 cm) and stop accurately (maximise speed while allowing for accurate braking)

• solve challenge at 14 cm height above mBot

  3i) Colour-based challenge

  • using 2 RGB LEDs + LDR
  • 5 + 1 cases (all moves + black colour for end)

  3ii) Sound-based challenge

  • using sound detectors (built by us)
  • 3 cases (only basic moves)

4. Accurately identify the end of maze

• can make it part of colour-based challenge (with end being the last check as it only occurs once)
• play victory song - mBot play despacito (kahoot theme remix)

In general:

• short-circuit conditional statements (the most frequent case should terminate as early as possible)
• comment non-obvious code

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Turning specifications:

Distance between middle of wheels = 116 mm Wheel Circumference = 64pi mm Distance to be covered by each wheel for 90 deg turn = 29pi mm