New to this malarkey so please excuse the ingorance.
I built the "Start Here" robot by fritsl. Works fine no problems - great introduction. Moved on to a BEAM mini sumo from Junkbots and got someone at work to explaine why it worked...
So, I have tried to expand and experiment with the pic based bot. I have added LEDs and light sensitive direction. Works OK
My problem is with the IR detection using a PNA4602 and irin.
I replaced the sharp GP2D12 with the PNA4602. From the left with the bubble facing;