You need to write functions for turning left and right ninety
degrees. This is dead reckoning!
The catch is, your LEFT and RIGHT turn functions need to work
the same whether CHiP is up against a wall or not. How can you
do that? HINT: Think about using the bumper to straighten CHiP
out if there is a wall present!
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That's the hard part! Once you have reliable, self-aligning
LEFT and RIGHT functions, can you create FunkyYoYo using all the
dead reckoning functions you have written, plus your original
YoYo-Bot?
When you hit a wall with the bumper and are going to turn, it may be easier
to turn if you back off from the wall so you aren't touching it.