FOBO can navigate unknown environments using its ultrasonic range sensor to detect obstacles.  Once an obstacle is detected FOBO turns until the path is clear, then continues on its way.  Currently only hard surfaces are recommended.  Carpet will lead to face plants and back flops.

1 Download the Navigation program (also available in the file section below).  This is an arduino code file.

2 Connect FOBO to your computer with a USB cable.

3 Follow the calibration tutorial to create the custom calibration for your FOBO's servos

4 Export an action from the Poser application using your custom calibration to expose the  calibration array in the correct format.

5 Open the exported action program (.pde file) and copy the calibration line (looks like):

  const int calibration[8] = {-573, 723, 823, 149, 474, -374, -1621, -498 };

6 Replace the servo calibration array in Navigation_2.pde with your custom FOBO calibration.

       

       

4 Use the Arduino development environment to upload the Navigation program to FOBO.

5 Unplug FOBO from the computer.

6 Set FOBO on the ground, connect its power battery power cable, and flip the servo switch. 

Arduino Code GPL FOBO navigation program ( Arduino pde file)