Square Route

Every corner is a right angle, or worse, the introduction of acute angles. The area in the top left was the area that Marauder had the most trouble with. The lines are only 2.5" apart (which didn't cause any trouble for Marauder but some bots didn't like it). The hard part was the inside corner where it folds back on itself. You're basically doing a U-turn with a square U where the legs of the U are only 3.5" apart. Since Marauder is 4" square, sometimes the line sensor would miss the second leg of the U. There were also some gaps, the longest being about 3". Bigger...
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Copyright 2006 by Dave Hylands