Description: Mainly use the number five sonar sonar 15,0,1,2,3, we set it to go along the side of the wall. Sonar designed to detect the distance d, d0, d15 is mainly responsible for the robot to go straight, the other robots on the charge of the special circumstances faced by, for example, what happens into a corner, which we need to set some pre- value, to prevent against the wall. We draw the robot in the global coordinate system are located at the wall, this intermediate involves a robot coordinate system and global coordinate system conversion issues
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runwithwall.doc
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