After a few hours of tinkering with the code, Kanati-1 can now negotiate a maze. It doesn't do it well because it does not yet keep track of the world and it's place in it. It would do better if I was not using a random direction when it sees something straight ahead. That's going to take some time just playing with it.
I have the side sensors reacting further out than the center. This lets it react to somthing along side it before reacting to the front sensor.
If anyone has any good behaviors for dealing with obstacle avoidance, I'ld like to talk about.