Obstacle avoidance project from Starter Kit 1.0 Roaming

Hi. I'm a newbie to LabVIEW and I need to do a project which is improving the algorithm from Starter Kit 1.0 Roaming.vi so that the robot can create a global view for obstacle avoidance.
I test run the vi and I found that the vi is not best enough in avoiding some obstacles (it still collides with obstacle after make a turn).
My problems are :
1. How can i make my robot move slower (where to change the speed of motor?)
2. How can i set the robot's turning degree after detect an obstacle?
If you guys can improve the vi for me it would much appreciated. Thanks.
Attachments:
Starter Kit 1.0 Roaming.vi ‏58 KB

Hey,
"Calculate Driving Direction.vi was not attached so unfortunately I cannot view the whole VI, but I don't think that is entirely necessary.
If you are very new to LabVIEW then firstly I would always recommend flicking through some of our "Getting Started" Content to familiarise yourself with the environment, this just might make some things a little easier.
http://www.ni.com/white-paper/7466/en/
Secondly, with regards to your VI, I had a quick look through it (Bringing up Context Help by pressing Ctrl+H was pretty helpful in understanding where I might be able to implement things if you haven't searched through the example that way already).
I think in relation to making it rotate slower, you might be able to manipulate the values that are the "left/right motor ccw velocity." Which sounds like it might edit the rate at which the robot rotates? (Point 10 on the VI)
Potentially you can change how far it rotates after detecting an obstacle at the "Update scan angle" VI (point 7 on the VI)
As that has a "scan angle parameter."
As I don't really know the application of the example VI very well, my advice would be to have a look for some values on the VI that sound appropriate for what you want to do, such as the "Update scan angle" parameter, and then enter different values to it and watch its effect on your robot. I think this would probably be the best way to find out what effects what, and will familiarise yourself with labVIEW and the project.
The project sounds pretty cool though, so please don't be discouraged if you are new to LabVIEW, the forum will usually be happy to help out when you have LabVIEW questions, but for this particular example, the method of educated trial and error is probably the way I would do it myself if the robot were in front of me!
Thanks,
Justin, Applications Engineer

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