Software Software, like hardware, is never finished, but I've included the current version here so you can see what I'm moving towards. Of course both are written in PBasic. The master program uses an event loop which responds to various events such as whiskers, e-stop, light level, etc. You'll probably find the subroutines that control the drive motor and steering motor useful for your own programs. The coprocessor code waits for commands from the master and responds accordingly.
Commands allow control of the sonar, head motion, strobe light, compass, and voice.
Many people have asked why I named this robot 501c. I believe that DPRG shouldn't and a lively debate ensued. Hence the name, 501c. Proudly pronounced on the rear name plate.