sensors

I have chosen the front sensor to be an ultrasonic sensor for the time being. The initial thought is that ultrasonic will not have as many false positives as an IR outside during the day. See attached for the simple test and results of the sensor. This can detect a pencil at 2 feet during my testing.

back at it

So I finally got around to taking a picture of the 2 H-bridges used to power the algorithmic test bed motors. They are just simple H-Bridges powered by two 9 Volt DC batteries until I get a better battery for the whole shebang. You can find a schematic for it here.
See below for some pictures....

Also, below is a movie I made of the tank chassis rolling down a hill (driveway) to test if the friction of the axles needs to be modified.