Larry Version 5.0

In version 5, Larry tried out a set of wheels instead of tracks.  Tracks work better than the wheels and admittedly draw more power; but, they also have much better traction and more precise turning abilities.  Wheels slip and then who knows what direction Larry might go in.  To compensate, I had Larry turning pretty slowly so he doesn't do burnouts on the carpet and thus lose direction.

Larry also had a new configuration in V5.  I've moved the motor that drives his IR sensor into the chassis.  This significantly avoids Larry bumping his "eyeballs" on things he just doesn't see - like totally black walls that absorb all light, or stainless steel that reflects light somewhere except back to Larry's sensor.

In V5, Larry made decisions based on furthest perceived distance.  He'd look left, behind and then right and choose the greatest distance.

At issue is the fact that without making Larry's IR sensor scan 5 or 10 degrees to both sides, he'll have offset head-on collisions with terrifying objects like upholstery and the resulting crash will cause him to go belly up (literally).   The light front end makes it too easy for it to happen.  Larry's last accident is pictured below.

Since I've done the eye scanning thing in a previous version, Larry has ridden his last stretch of carpet.

Thank you Larry for all the entertainment and learning about how to control your motors and read your sensors.  Unlike other things, reincarnation will happen for you.  RIP.  You'll be missed.