Distance sensing      This program is for the BS2 processor and is an extract from Jim Ubersetzig's firefighting robot which demonstrates how to use GP2D02 distance measuring sensors to follow walls.  A circuit showing wiring to hook up sensors for this software.

Bumpers.txt    This program for the BS2 uses two bumpers on the robot to navigate around a room.   You can get a schematic to wire up your ebot to be compatible with this code here.