High level navigation commands are issued from the navigation and planning process. This module keeps a graph of easily reachable positions. From the graph, 'Pusher can navigate from any one known position to another. Using this, 'Pusher attempts make a circuit through the course stopping at each cell looking for mapped food. If 'Pusher finds food, it brings it home and continues along the circuit.
Poison food is noted and ignored on further visits to the cell.
Originally, it was hoped that 'Pusher could carry out true compliant motion, motion that follows obstacle boundaries, but this interfered with odometry and 'Pushers' bumpers often bored into the walls. Ambient light overwhelmed 'Pusher's stock photo-cells. Bought from College Supplies, red cellophane did the trick. Here is a log of our progress testing 'Pusher on the course. And here are pictures of other entries into the class competition.