This repository contains the software portion of the entire system design used in a turtleBot3 Burger. Tasks include autonomously navigating around an unknown maze, sending a HTTP requests to the ESP32 to open one of two doors, shooting 5 ping-pong balls into a bucket, completely mapping the maze.

Operational Flow:

1. The turtleBot3 navigates through the maze using line-following and stops between 2 doors.
2. The turtleBot3 then sends a HTTP request to an ESP32, unlocking one of the doors. It then continues into the room stopping in front of a bucket.
3. After shooting 5 ping pong balls into the bucket using a catapult, the robot exits the room.
4. The turtleBot3 navigates around the maze using a gap-based exploration algorithm mapping the remaining parts of the maze in the process.

Main Control: finalcontrol.py

Autonomous Exploration: autonomous_exploration/clean.py