this is the firmware that runs on my dsNavCon prototype board, on MuIn dsNav 990.011 Droids board and on Robocontroller board to drive a robot with PID controlled speed, direction and distance, with odometry and field mapping, autonomously or remotely controlled by a GUI: http://code.google.com/p/dsnavconconsole/

The navigation board can be interfaced with a sensors board to interact with the unknown environment: http://code.google.com/p/sensors-board/

A complete description of the entire project can be found at: http://www.guiott.com/Rino/index.html