This is our first autonomous robot "Albert 1". It has a bumper at the front to detect collisions and rear steering,to get away. The design specification is to drive forward until an obstacle is met, then to turn the steering to the right and backup for 30 seconds. After this the steering will straighten out and Albert is to move forwards again.
The ladder logic for the control processor.
Timer1 is the reversing timer
x0 is the start switch
x1 is the bumper switch
x2 is steering set to straight switch
x3 is steering set to turn switch
y0 is motor 1 direction
y1 is motor 1 on/off
y2 is motor 2 on/off
y3 is motor 2 direction