This repository contains the code for my micromouse (maze-solving robot) Totoro, based on the UKMARS Gemini platform (with an added MPU6050 and HC-05).

The code is broken down into separate files which contain a number of functions each:

• gemini.ino - the main Arduino code
• buttons.ino - allows use of pushbuttons
• floodfill.ino - contains maze-solving algorithm & maze driving looploop
• motion.h - drives motors a particular amount using gyroscope & encodersders
• pid.h - PID controller class
• telemetry.ino - sends telemetry in JSON to a mobile maze viewer app
• config.ino - allows configuration by Serial
• motors.ino - contains low-level motor functions
• positioning.ino - allows the robot to know where in the maze it is
• tests.ino - tests for the robot
• encoders.ino - updates the encoder counts
• leds.ino - allows the use of status LEDs
• mpu.ino - updates heading using the gyroscope
• sensors.ino - Reads the phototransistor-based wall sensors
• wallFollow.ino - simple wall following algorithm

The robot has successfully completed a 16x16 maze in the UKMARS competition 2026!