Find obstacle

[nicjar]

@nicjar commented on Wed Jan 25 2017

[pontus]

When we see an obstacle (perhaps do at a fixed distance?):

Turn right until we don't see the obstacle [1].
Note our direction
Turn left until we don't see the obstacle [1]
Calculate how wide the angle the obstacle occupies is
If the angles is < 180 degrees, the obstacle is a box, otherwise we are looking at a wall.

1: There may be a box in front of a wall, so we can't just look for something detectable or not - we probably need to look differences greater than a certain value.