I expect your y% x% values are port values, but for anyone who is going to use this in general, I think the parameters have to be floats. Agreed. I went to integers because what comes out of the compass module is 16bit, 2s compliment, numbers which I convert to signed integers but you are right tha...

Would this have been the ATN2 you were also looking for? DEFFNATN2(y,x) IF x=0 THEN =SGNy*PI/2 IF LOGABSy-LOGABSx>38 THEN =SGNy*PI/2 IF x>0 THEN =ATNy/x IF y>0 THEN =ATNy/x+PI =ATNy/x-PI Thanks for the encouragement and references Steve. I used this for the ATN2 function, very similar to yours, whi...

wow - good job. Whats it like on slopes? Maybe there is a way to optically sense the gaps between the track links? I have not tried it on a slope but the original Heng Long Tiger is quoted as being to do a 30 degree slope. I have seen it climb over a couple of shoes :? . Looking for the track link ...

I have been lurking in these forums for a while but this is my first post. Having started out with the Raspberry Pi driving LEDs then an LCD display I decided to have a go at building a robot. So this is my first attempt: Looking at Front Left http://i172.photobucket.com/albums/w20/GlynM/Computing/R...