For UltraMega, I fixed some sensor wiring issues, and debugged the motor control code. It’s now in working order.
So now, 2 IR sensors mounted on the front are working, which is sufficient. So when left or right sensor is triggered, the appropriate evasive behavior is invoked. So if the left sensor is triggered, Mega backs away from the left. And if the right sensor is triggered, Mega backs away from the right. Just some simple maneuvers to test. The previous avoidance code will also be reviewed, and rolled in.
Next will be looking at the odometry sensors, to make sure everything is working properly. Will update again soon.