While completing my university coursework, we were individually tasked with constructing a robot capable of autonomously navigating a maze consisting of turns and dead-ends to show mastery of microcontroller logic and interface.
To this end, I programmed a Motorola 9S12 microcontroller to interface with servos for propulsion and created routines to interpret IR sensor information as conditions for a finite state machine.
Some of the challenges included the effect of battery drain on the functionality of components as well as propulsion not being perfectly straight.
By the end of the course, the system was complete and it successfully navigated itself to the end of the maze.