it worked better. Now it goes pretty straight but does not turn left hard enough when confronted with a corner. Watching and listening to my video I conclude that at this speed with this little friction the PIC needs more warning (I only gave it 53 inches) to turn sharply left. I'll change that and try again tomorrow. Also this sharp left turn should not be modulated. It should be bang.

It is a bit of a drive to my deserted gym. It has no heat and no electricity. My laptop crashed a few weeks ago. So one fix on my desktop PC, one test.

A question: Do you folks recommend any editor that automates my version control? I would like to start with version 1.0 then activate an editor that automatically adds each of my code changes one batch at a time. If I had that I could recreate any past version.

Presently I am saving the versions identified by their checksum. That is clumsy.

Ken