Smart Climber and Avoider Robot

Since my last climber robot didn’t really do what I wanted it to do, I decided to make a new, more  sophisticated one. Here’s a few pictures of it (they enlarge when clicked, literally!):

It’s programmed to first drive forwards, until one of the bumpers is pressed. It then stops the wheel at that sensor’s side, and spins the other one until it’s pressed too, making sure it’s at a 90° angle from whatever is in front of it. The next thing it does is check the US sensor. If the distance to the object is less than 9 cm, it knows the obstacle is too high to climb, goes backwards and turns approximately 90°. When the sonar sensor’s value is below 9 cm, though, the middle motor, with the claw, turns a full turn, to hop the bot onto the platform. The avoider/ climber can do all of that in any order, enabling it to survive in a labyrinth with different floor levels, for example. The programming was done on RobotC. Below is a video of it doing it’s thing:

I’m open to any questions or suggestions for improvement.

More info:

• Post on RobotC forums (with coding)
• Video on Youtube
• Post on NXTLOG (with LDD)