This is where my tank robot project info is.   

    My latest robot uses the Tank_turn_tracks_servo_wall_post_temp.pde code (you can find it at the bottom of this page).  the robot is based off of the same code as the tankie_final.pde code that is shown in the video on my arduino main page.  it however is much more advanced than "tankie."  for one thing, the code is all documented.  also, it is much cleaner and can do about 10 times more than the old robot.  it can now sense walls and openings in those walls.  also, it can sense char legs on its side sensors so that it does not think that they are walls and does not think that there is an opening in the wall for it to turn into.  the robot now no longer needs a dedicated servo arduino, that has been added to the code as well so that only one arduino is needed fo control the whole robot. another feature on the robot is that it also can sense light levels and can change headlight brightness accordingly.