Weak path-finding with Manhattan distance suited to small robots

New project being worked on with an arduino rover.

Goals (No order)

1. Error LED with debug codes
2. Low power LED
3. Read/write to SD
4. Send/Receive from computer
5. GUI
6. Return to Home position
7. Set new home position without losing grid information
8. Move by x and y amounts
9. Move to coordinate
10. Travel around obstacles
11. Explore/map
12. Setup encoders for accurate movement
13. Return to power source

The rover had a Sharp IR sensor on its tail end and a US sensor on the front (Attached to a servo). There is also an Xbee unit.

 The robot is the rover from robotshop.ca ($180 for the Xbee kit).

Testing the Xbees and motor speeds(to ensure straight travel):

Sensor and servo testing:

More thorough test of the sensor setup.

Setting up coordinate system for path-finding/testing coordinate to grid array conversion.