Modifications of Kherpera Code

• robot.c -- everything else unchanged

Math and Neural Network Code

• datamath.h
• datamath.cpp
• queue.h
• readpar.cpp
• network.h
• network.cpp

Supervised Algorithm and Interface to Khepera

• patgen.h
• patgen.cpp (supervisor)
• user.h
• user.c (Khepera commands)