Okay, I took my working list of changes in MNR1 and applied almost all of them in MNR2.0. The only thing I did not fix was the orientation of the NXT Brick. I left it flat in MNR2.0. The tracked base was very successful in this version and I plan on diagramming the track layout in a LDraw and perhaps build up some instructions for building it again later when I need that type of base. I have had one problem with the tracked base since the very first use, it does not track straight. I'm going to try some program tweaks to try and improve it. In the current version it deviates 10-15 degrees in 5 feet.
I moved the third motor out of the drive cluster and made it drive a sensor platform. I used a very simple gear system to turn the ultrasonic sensor left and right 90 degrees after the sensor has stopped the robot's forward motion. As with most gear driven platforms I've tried there are problems with gear slippage and accuracy on the turns. I need to work on this somewhat.
Alright, with the changes from version 1 to 2.0 I think I have made good progress. I have a more stable system that rotates the sensors not the entire robot. The tracks are more stable but still do not travel straight. I did buy the Mayan Adventure book and I am reading the first part now. It uses the NXT-G system that comes with the NXT. I'm going to try resetting back to the original firmware and give that system another try. I like the Java kernel but I'm not sure the innacuracies in the tracks are not caused by the motor classes.
2.1 plans:
1. Target the sensor cluster and replace/simplify it.
2. Get the brick up out of horizontal position.
3. Try the NXT-G IDE.
