Our robot's behavior is controlled by C source code using Freescale CodeWarrior and uBug12 for the C32 Microcontroller. We began by creating a state diagram for our robot and then moved onto debugging code to test our circuit and other hardware individually. Once we found all of our individual components worked, we began creating code to integrate everything together by using our previously discussed state diagram.

Due to the cleanness of our code, we were able to quickly and easily try out different strategies and state diagrams by mixing and matching functions in our modules. We created a south wall following strategy which worked well for us. We used this to get our check off. Afterwards, we played around with north wall following strategies that had rescue states and abilities. Though we used north wall following and rescuing code for the competition, we were most satsified with our original south wall following methods that can be seen below.

Code South

• arms.c/arms.h
• beacon.c/beacon.h
• defs.h
• events.c/events.h
• release.c/release.h
• state.c/state.h
• switch.c/switch.h
• wheels.c/wheels.h