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I have got the sonar sensor working and scanning and added this to the data sent to the pc. I have also written a very basic obstacle avoidance program which basically involves the robot turning for a certain time whenever an obstacle is sensed. I am going to develop this program so that the sonar data is also used to make decisions on what way to turn. I would also like to send data from the pc to tell the robot which way to turn so that unexplored areas of the map can be explored. For now ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/crum