Just got back from a 3week vacation in southern arizona, we were fossil collecting with our friend that flew in from Australia. Anyway, thanks Steve for posting my article.
We are officially kicking off the next project now. The PicBot 5 program, will extensively detail one of the most important aspects of a household robots existance - Docking. This could be for battery charging, reseting wheel encoders to a known reference point, or simpy navigation of a complex area. Needless to say, if your robot cant dock, it cant "feed" and will cease to do its assigned task.
I will be using a new PIC for this project, the 16F876. It has many powerful features, and enable the docking proceedure to be successful.