Added code to make the robot follow the left wall. Currently it follows the left wall until the first turn and then continues straight.
The robot will go out the first door and get required functionality. It detects a wall in front but makes the turn too late.
Center sensor now works correctly. The right wheel now moves backward on the right turn so the turn is sharper. The problem was that I was not delaying the cycles enough to give it time for the right motor to move backwards.
Completed A and Bonus Functionality with the last commited code. It will complete A Functionality now in ~11 seconds on a good day with no wall collisions.
Merge branch 'master' of https://github.com/babelcher/RobotMaze