———––Devlog 09————

Sentinel’s Software Gets Smarter

Today I focused mainly on improving Sentinel’s software and project documentation.

The rover is not physically ready for full testing yet, so I used the digital work session to organize the code, fix errors, add useful debugging features, and improve how I present the project.

Software Progress

I expanded Sentinel’s Arduino Mega code with several new systems:

• Manual and autonomous driving modes
• Emergency stop command
• Configurable rover settings
• Obstacle detection and stopping
• Reverse-and-turn behavior
• Servo-based left, center, and right scanning
• Mission statistics
• Current rover status reporting
• Structured communication messages
• TB6612 motor-driver control functions

The autonomous system is designed to follow this sequence:

1. Drive forward
2. Detect an obstacle
3. Stop
4. Reverse
5. Scan left, center, and right
6. Compare the available paths
7. Choose the clearer direction
8. Turn
9. Continue driving

Mission Statistics

I added a command that can report information such as:

• Mission runtime
• Number of obstacles detected
• Number of left turns
• Number of right turns
• Number of successful distance readings

I also added a current-status command so I can check Sentinel’s mode, state, movement command, and latest sensor reading while debugging.

📡 Communication Protocol

I standardized the messages Sentinel sends through the Serial Monitor.

Examples include:

MODE:MANUAL
MODE:AUTONOMOUS
STATE:DRIVING
STATE:REVERSING
STATE:SCANNING_LEFT
CMD:FORWARD
CMD:STOP
DIST:32.4