Arduino autonomous tracked robot build Part 3

So I finally got to this step, my bodged together piece of code that makes my robot move. This is the last one in the series.

I uploaded the code to SourceForge so anyone can take it and do whatever they want with it and maybe in the process someone will learn something. Here it is.

Arduino autonomous tracked robot build Part 1
Arduino autonomous tracked robot build Part 2
Arduino autonomous tracked robot build Part 3
Arduino autonomous tracked robot (visual post)

I will start with the easy bits, the small functions and the bits that hold everything together.

Arduino autonomous tracked robot build Part 1

So I am finally taking time to write about this one. I created the monster some time ago but I haven't have the chance to talk about it. This is a simple (yet it took me a bloody long time to complete) Arduino Uno, motor shield, Ping sensor, infrared sensor, autonomous robot.

My arduino autonomous tracked robot

So there it is, that picture explains everything, my job is done here :)

Arduino autonomous tracked robot build Part 1
Arduino autonomous tracked robot build Part 2
Arduino autonomous tracked robot build Part 3
Arduino autonomous tracked robot (visual post)