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Debugging Summary

While writing this program I favored the troubleshooting techniques that I had used in the past.I write the code bit by bit instead of all at once so problems arise one at a time, making them simpler to identify and fix. I also watch the problematic codes for emergent behaviors that often explain the coding error. The debugging LEDs have been removed in order to make the user interface clearer and more easily understood.

I had orginally planned to used a photo sensor to tell the difference between the wall and the balls ,but I found that yellow and gray values are too close (overlapping at times!) to be effectively used. So I developed a way to use a touch sensor. Also the servo movements were orginally part of the main code but I decided to pull these out as functions in order to simplify my code.