It working.
But it walk like a dumb.
Anyone can modify it to make it walk straight until it stuck and then try another path? Or make it choose more further point. Not random walking around same point.
This is my diff for last rA I just pull yesterday.
I'm not a coder. Just combined everything I read from this topic and read the code then apply it manually. I just googled how to made this patch file and want to share.
I can read the code to analysis how it work but can't write the code by myself. xD
@tack.patch
