After several days of experimentation (writing code and testing it) with the original XBot, new ideas came up! The new objective that I had in mind was to enhance the robot with a ?self-localisation? ability using its optical encoders. In other words, I wanted the robot to be able to ?know?, at any given time, its exact Cartesian coordinates (x, y and theta). Once this was achieved, the robot could perform far more impressing navigational routines. In order to do that, the PIC16F84 controller was replaced with the more powerful ATMEGA8535 controller and several new peripherals were added.
