Progress is slow

I cleaned up my RobotC version of Philo's control program. Still won't stay up for more than a few seconds. Maybe my tires are too soft or my floor is too dirty?

A big problem seems to be that once it starts rolling in one direction, it just keeps going. There's no "stay in place" logic, so as long as the robot stays pretty much vertical, it's happy.

I'm now working on a more elaborate program inspired by my imperfect understanding of Ryo's project. That code takes everything into account.