I’ve mounted the IR and US Sensors, and have done some coding, to get the data. The data is being streamed via the UART, but that may go away, or be used mainly for debugging telemetry data.  I will be working on the control logic soon, once I build the data stream correctly.

The sensors that are mounted, will be exposed through the body of the robot. I just need to make the measurements, and make cut out the openings.

The sensors are on lower front (IR), side (US), and another on the top front (US) of the body. The top front, I am still trying to decide if I want it to incline, be on some type of motorized tilt, to scan up and down/left and right.

I will update again soon…