Maze solving tasks
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Here is a list of things you need to be able get your robot to do.
For Maze solving, accuraccy is very important.

1) detect start button, and light a LED
   this can be the button on the robot or a TV remote button.
2) go forwards in a straight line
   get the drive to each motor correct, so it goes in a straight line
3) go forwards in a curving gently left or right as required
   get the left and right motor speeds to gently curve in the right direction.
4) go forwards for a measured distance
    use the wheel-counters to count a number of motor revolutions
5) display the 3 wall sensor readings and record correct values.
6) go forward, keeping the correct distance from the left wall
   use the left sensor, to measure the distance
7) go forward, keeping the correct distance from either the left or right walls
   use the left sensor or right sensor, depending which walls are present.
8) stop when the wall disappears
9) perform a left turn
   you will need to go forwards a bit, turn left exactly 90 degrees, and go forward a bit more.
9a) Check two consecutive left turns
   this is needed when the path does a left hand U-turn.
10) stop when there is  a wall in front
   perform a spin 180 degree turn
   you will need to go forwards a bit, spin right exactly 180 degrees, and go forward a bit more.
11) perform a right turn
   you will need to go forwards a bit, turn right exactly 90 degrees, and go forward a bit more.

 Finally
   tune it all up so that each of the four manoeuvres stop in exactly the correct position on the grid:
   - straight ahead
   - turn left
   - turn right
   - U-turn right
   
   It will need to do this so that it can run the maze controlled by a TV remote (a different button for each).
   
 In conclusion:
   connect up with the maze-solver picaxe chip (the 18M2 also on the robot), and allow it to control what happens.   
   
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J Fisher 20/1/20