https://youtu.be/2khTwDcWwGw Le programme : from mrpi1_lib import * import time obs_limit = 600 # main program state = 1 while 1:  x1 = proxSensor(3)  x2 = proxSensor(4)  if(( x1 > obs_limit)and( x2 > obs_limit)and(state == 1)):    x1 = 0    x2 = 0    stop()    time.sleep(1)    state = 2    controlEnable()    … Continue reading MRPi1 robot navigation “cleaning algorithm”