Finally, after what's been a 5-6 week break, I returned fresh to ScaredyBot and sorted out the issues I was having - it's amazing how quickly I was able to find the problems in the code once I actually sat down to it. So now I have a subsumption architecture going on, all on one chip (Renesas M16C). It's not quite how Brooks does it - it's not exactly asynchronous or parallel, but oh well. So I've written up four behaviours, in decending order of priority: retreat, collision avoidance, wall avoidance, and roaming. Each behaviour is written independently and can be inserted (even possibly dynamically at runtime) into the behaviour list at any level. So next, I'll get a light sensor, write the 'driver', and then try to use it in some behaviours (photovore, photophobe, other - ideas?)

Cheers, Marcin