I truly haven't done anything on ScaredyBot for almost a month - my subsumption architecture was a bit too complicated - still is, but I'm working on it. The funny (or sad) thing is, that I didn't take the step back and try to trade off some of the complexity/functionality/purity in a pragmatic manner. Basically, I was trying to go for generality that would (in theory) support any future requirements. Now that's just silly, especially considering this is only my second robot. So I'm now going to shed some of the Brooks subsumption ideals and just focus on making it work reliably, with extensiblility to support the likely future growth.

Ah, embedded ISR debugging is so much fun, because it's just so darn easy and not at all time consuming.

Cheers, Marcin