I do need to yell, you are overlooking a lot of what I have said multiple times, and have done it again!..

Yes my Hearoid which is still being built. Even while work in progress and far from complete it navigates doors without problems.

My design is on my showcase post. My scripts are in the scripts section and on the cloud (although made more generic so anyone can use them and not tailored to my project). Anything that is not complete or still being tested has not been posted as there is no point if there is any likelihood of it changing.

Again, you failed to re-read my posts despite telling me not to yell. The pan on the head may only have a 180 degree range but the robot can rotate on the spot infinite degrees, it can move around and search for a QR code, color, glyph, face, whatever. I'm fed up of having to explain everything many times to you.

The theory behind how my robot gets through a door is simple;

2 IR sensors, one on the front left and one on the front right (these are in addition to further IR sensors and Ultra Sonic sensors that have been fitted but are not important in this maneuver)

IR sensors give a higher ADC value the closer they are to the object (if memory serves me correctly, if not then just reverse what I'm about to say).

So a script is written that checks the values. If sensor 1 is higher than sensor 2 we know that the object is to the left of the robot, if sensor 2 is higher than sensor 1 we know it's on the right. If they are equal to each other we know it's directly ahead.

When the sensors hit the specified value it controls the movement to avoid the object.

However, that said, it has always had no problems going through a door even when only using a single IR sensor mounted front and centre (which would stop the movement, rotate to the left slightly, check again, and move forwards or rotate more, counting the number of times it rotated slightly to make sure it didn't end up doing a 180 degree turn and going back where it came from.

yes that the way it works for anyone,i have about the same setup only little better

Finding the door is another problem ,but i guess you will say use a QR code on or on top of the door

I have 2 pointing forward and 2 on each side of the robot and then 2 more pointing at the corner to detect corners of the wall with very good accuracy and one in back in a sweepoing mode and each IR has SONAR with it SONARS are good at detecting some materials and same with IR one reason you need both,at the same time i have my sonars detect as small as a pencil with smaller cone same with IR too

Finding the door is easy, it's usually the great big gaping hole in the wall...

yes but how with a camera not a problem using fudicals or like QR code sensors cant really do it,hard for to tell the diffence in screen door or open space ot door way or if the door it partly shut

BUT i love to see you idea how to see though walls thats biggest i see .on finding a QR code on the other side of the wall

Here is and interesting video of a robot auto docking.

www.parallax.com/tabid/869/Default.aspx

Also here is an interesting article showing how someone hacked a Scribbler Robot to find it's charger station. Wonder if we could hack this idea and use it with the EZ-B?

www.botmag.com/index.php/take-charge-of-your-scribbler-robots-ir-capabilities

yes i had that link BEFORE and tried his code on my basic stamp boards,it what almost my design is based off ,only i added communication to it ,and using WIFI it can be in any room

I wish i could get back on it soon,since home base charging design it what i am into then sensors almost

i test so many many designs and seen the problems it had and how i am able to make it better,AND I DID so next is to port my design over to EZB ,witch will take a little of time

DOESNT matter where the robot is the home base guides the robot to the home base for charging ,then using digital I/O i can chage the charging rate,charging current and voltage ,depending on the robot you want to charge

its universal design for any type of battery,only problem and should be hard is the charging plates i did buy a small lifting platform to raise or lower the robot or homebase to match the charging platesused,but there is other ways too.