• Cruise:
drives the wheels at constant speeds. The behavior can try to
drive the wheels at any speed, positive or negative, but the robot
speed will max out at +/- 255.
•Home: tries to
drive the robot toward a light source. It uses a proportional
controller to home on a light source whenever the robot’s photo sensors see light. The robot homes on the light by pivoting
in the direction of the light and then moving forward a step. The robot
determines the direction to the light by calculating the difference
between the two photo sensor measurements..
•Avoid: Moves
robot forward and left if the right proximity sensor is on, or
forward and right is the left proximity sensor is on (if gain is
positive). With a negative gain (in collection task) it goes toward an
obstacle (eg a puck or wall)
•