This is an old project of mine that I think I now want to finish. It will be my first attempt at image processing.
Here is where it is at so far. More information will be added with time.
Great work, Patrick!
In regards of "detecting the angles", my humble (and likely unuseful) idea would be to draw a circle around the "bot". You could then see if this circle went inside/outside the path, and that way keep track of where the path is.
That is really cool. I am building a maze solving robot and I am wondering how you are choosing which path to take. I think you are always turning left the first time. How do you determine which path is correct the second time?
This is how http://www.patrickmccabemakes.com/PatrickMccabeMakes/Mazesolving.html
Basically you are substituting a sequence of 3 turns (or 3 angles) with a single one.