Since my last post I became aware that I'd made a huuuuge mistake with Bertha.

I was trying to hard to make it a generic, adaptable setup that it had gone much too far.

Sure, it was setup to manage multiple configurable everything in a fully malleable way, but the ability of it to utilise any of those faculties was completely hamstrung.

Distance sensors for instance; Abstracting them was great (is great) but I had gone so far as to make it very difficult to have Bertha utilise them herself without direct control.

OVER engineered. I've rolled much back now and am working on integrating the 3 primary distance sensors (front, back, and pan/tilt).

Integrating accurate distance sensor/s as a pre-cursor to mapping and then understanding the environment.