Here are the rest of my pictures.
Here is the system that is located in the back of the rover. It is used to detect distance. It does this by having a disk with holes in it. As the disk spins on with the axel, light shines through the holes onto a photocell. In turn the photocell runs through some more circuitry that is seen in the centeer of the breadboard into the Basic Stamp. It can determ how far it has gone simply by find a proportion of how many times the photocell is in one state in comparison to the distance. With this system there is a constant, say 12 "ons" to the foot, similarily, 1 "on" to the inch.
Here is the bottom view of the encoder system. You may be able to recongnize the LED and photocell on opposite sides of the disk. The adjustability of the system is some thing else worth pointing out. Room can be made for a large,small,thick, or thin encoder disk.
This is one of the simple moves that the rover is able to proform. Notice what happens in the next picture, taken about two seconds after.
The wheels turned to the left and it backed up pointin it in a relative right direction. This was due to the fact that the bumper was hit on the left, therefore the easiest way to get aroung the obsticle would be to go to the right.
Many additions have been made since these photos were taken. I will attempt to enlighten you of them in the software section.