The Singularity Robot is slowly coming along. The Motor controller is working along with an MQTT client that is using the pub-sub paradigm to get messages about what to do. It's implemented with a fail-safe system that will stop all motor operation if messages stop coming in for over 2 seconds. This is to save baseboards and ankles. This thing weights over 40lbs, so it would hurt, and we don't want that. Progress on the navigation has been slow due to a bunch of other things going on but the plans have not changed. I started working on a learning algorithm and got a bit dissuaded when I introduced a hard to find bug during a major refactor of the C++ code. I'll most likely use git bisect to see where the issue was added. I'm effectively writing off of a buffer somewhere and corrupting memory. This kind of bug is a joy to find.
Till more to come. At least it drives now!