WebPPL Powers a Robot

Wiring

3A is hooked to arduino pin 3;
4A is hooked to arduino pin 5;
1A is hooked to arduino pin 6;
2A is hooked to arduino pin 9;
3,4EN and 1,2EN hooked directly to arduino 5V output pin;
hbridge pin labels: taken from documentation here (Section 6, page 3)
loosely following this wiring diagram: https://github.com/rwaldron/johnny-five/blob/master/docs/motor-hbridge.md
Left trigger and echo both hooked to 7.
Right trigger and echo both hooked to 4.

Install Arduino
Upload the firmware to the robot:

use PingFirmata http://johnny-five.io/api/proximity/#pingfirmata Source code: https://gist.githubusercontent.com/rwaldron/0519fcd5c48bfe43b827/raw/f17fb09b92ed04722953823d9416649ff380c35b/PingFirmata.ino
Install node and npm
Run npm install
- this currently doesn't install socket.io-client, webppl, or sleep, so you'll have to do that separately. (TO DO: update package)
Run node index.js in one terminal
Run webppl robot.wppl --require robot in another terminal to enter autonomous mode for 100 iterations
Open a browser to 127.0.0.1:3000 for a remote control
???
Profit