The software was constructed in five stages:

1. Joyride – Tape-following, random navigation.
2. Discovery – Ability to detect infrared light emitted from passengers and stop in front of them.
3. Delivery – Ability to pick up passenger and deliver them to the drop-off area.
4. Precision – Implemented node-based navigation system for smarter navigation.
5. Intelligence – Various improvements and optimization.

We successfully implemented all five stages and came away with a very reliable robot on competition day which directly contributed to our excellent performance in the competition.

The robot was controlled using a TINAH (inspired by the Handyboard) which was provided by the course. We controlled all aspects of the robot using the TINAH.

The software was written in C and uploaded to the TINAH using the Arduino IDE. By the end of the competition the source code for the robot reached well over 4000 lines of code.