Name:  						Benjamin R. Paul
Robot Name:					Lothar
Filename of your paper:				Final Report.doc

One sentence description of each of the sensors you used and a count on the number of each:

I used seven hacked 40 kHz Sharp infer-red detectors for obstacle avoidance and wall following.
I used four limit switches, two to detect the position of tiles and two to protect the color sensor arm.
I used one color sensor, which was constructed from 3 CdS cells. 
I used three bump switches to check for collations. 



A description of each of the behaviors that your robot can perform:

Color Calibration: I have three color calibration behaviors, one is autonomous, the other two require user input.  This behavior calibrates and gets the color values to be identified. 

Color Identification: This behavior identifies the color based on the input from the color sensor.

Find Tile: This behavior first looks for black a black line, then follows it looking for a specified colored tile.

Obstacle Avoidance: The obstacle avoidance behavior checks the infer-red sensors for obstacles and moves accordingly

Find Color: In this behavior, Lothar moves about avoiding obstacles and looking for a color on the ground.
Wall Following: This behavior involves veering left till an object is encountered and then follow the wall maintaining some distance.