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Update, 21/01/2014 I found that the ultrasonic sensor struggles with "box" obstacles towards its front flanks, probably due to reflection. Therefore to stop it "snagging" i had to add some bump switches (which i have been meaning to do for a while). I tried to add the bumps to interupts, but it ended up being so complex, it was much easier just to add this section of code into the begning of each "forward motion" while loop if (digitalRead (LBumper) == LOW) { Serial.println("Left ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/light-seeker-with-obstacle-avoidance