3. Problem Encountered
We havd to consider carefully about the data type required by Google Maps and error caused by accuracy from iRobot and compass.
We chose the JSON instead of XML. The main reason is XML is not easy to parsed. JSON.Net provides basic serialization function to parse the data into C# classes. We didn't realized that new classes have to be created in order to serialize the JSON data, which cost us a lot of time to debug.
Another problem we ran into was calculating the distance traveled while having to check for sensors being tripped. We found that by checking if the bumpers were tripped and adding a calculated distance traveled every 15 ms, we could solve that problem. When an obstacle was hit, we used a simple algorithm to get past it, then get back on course. Precise turning was done by using the turn and wait angle commands inside of scripts. The values were tweaked until the actual angle turned was equal to the desired angle.
Even though every funcationality works perfectly independently, putting them together gives us a lot of headache.