Communication and Ranging

Although I have a good idea of how I wanted the bot to behave in in terms of keeping in contact with the IR tower, I did not fully implement it. There are some parallel task and logging issues to resolve, but it shouldn't be hard to implement the spin until communication restored routine. It's a bit difficult because it will require notification to the motor driving routine that the pings have been lost and that the current path needs to be abandoned (and logged) before spinning (and logging the spin) to restore communication. I've hesitated to implement the changes that I think would accomplish this since I didn't have an RCX available to test the modified code (and therefore, the code has not been changed).

When the Lego Network Protocol has a bit more substance to it, I think it would be nice to incorporate it into this project. The present design is limited to one bot and thus the communication range of one bot. It would be nice to have ``courier'' or ``relay'' bots that ferry messages from distant (out of range bots) back to the PC. This change, however, would take a significant overhaul of the present bot code to facilitate the forwarding of messages from RCX to PC and vice-versa.