Pg1: Main Drive Controls - This diagram shows the general concept for the main drive system control logic (1/16/18).
Pg2: I2C Bus Devices for Robot - This diagram shows the I2C Bus devices that I'd like to include on the robot.
Pg3: Bit Sensor Inputs for Robot - This list summarizes the digital sensors (bit inputs) that I am planning to add.
Pg4: I/O Summary List for Robot - This list summarizes the I/O of the robot.
Pg5: Left Motor Controls for Robot - This schematic shows the left motor control relay hookup.
Pg6: Right Motor Controls for Robot - This schematic shows the right motor control relay hookup.
Here is the battery power charging and distribution system. (12/6/17)
Here is the logic circuitry for cutting off the motors if a bump sensor trips. (12/30/17)
Here is the program pseudo-code. (1/16/18)
Here is the "Omicron" program (1/23/18) such as it is. I haven't tested it yet but have been incorporating things I've learned from simpler programs that focus on the robots subsystems. The main emphasis has been integrating the motor controls and bump sensor logic into basic bump-and-avoid behavior. There is a mix of real and pseudo-code in the program. Eventually it will all be real and I hope actually work!