The maze solving robot based on the Freedom FRDM-KL25Z and Pololu Zumo shield has new features:

1. For dead-end paths, instead turning around, the robot is driving backward
2. Higher speed for going forward/backward/turns
3. In the finish area, the robot turns around
4. It reverts the solution path, so the robot can directly run from the finish area to the start

FRDM-KL25Z Robot on Practice Area

As for going backward the PID closed loop control algorithm needs different parameters, extra menu items are available:

Additional PID menu for backward control

As before, the robot is using a ‘left-hand-on-the-wall’ method. If it finds a dead-end, it will drive backwards to the last intersection:

The robot is now making turns and stops that fast, that maybe I should start to tape the paper to the table 😯 .

And there is still room for improvements…

Happy Solving 🙂