Making  a  Cable

    The headers go like this:

BOTTOM OF OSCILLATOR HEADER:  from left to right, left l.e.d. input; right l.e.d. input; N/C; +5V; -5V

LEFT SIDE OSCILLATOR SOCKET: from bottom to top, right l.e.d. (negative lead); right l.e.d. (positive lead); left l.e.d. (negative lead); left l.e.d. (positive lead); N/C.


    Very simple, isn't it?  Just a few notes:

1.) if you want to turn an l.e.d. off, you must ground it (or put a logic 0 to it, same thing).  If you leave it open, the NAND gate will turn on.


SIMPLE  PROGRAMMING

    A simple way to detect a wall or not would be to light one l.e.d., and check to see if the detector went low.  If it did, there's an obstacle, if it's still high, then the path is clear.  A more complicated method would be to light the left l.e.d., store the value of the detector in a variable, then light the right l.e.d. and store that value in another variable.  This way you can tell if there is an obstacle to the right, left, or in front using only one detector.