Test Videos #27 and #28 – More Collision Avoidance

Here are two more videos of the Rover trying to get the SONAR tuned up for good collision avoidance.

Test #27 – Oops!

Here the Rover is crashing because we aren’t sending any braking to his motors.  That means he is coasting forward even when he detects an obstacle.

Test #28 – Restoring the Hard Braking

Here the braking has been restored.  We brake by sending 1-2 inverted pulses to the motors which pops the wheels in the opposite direction very briefly.  It’s a jolting stop, but it certainly beats crashing.