I made a little progress yesterday after a marathon hacking session at Steve's. The robot can sometimes enter the first room, scan it, and orient itself to the nearby wall, pointing in a direction that makes it possible for it to leave again, and bash its way to the second room. But it's inconsistent and sensitive to starting position, and glitchy.
As a last ditch effort last night, I set the speed a bit slower. All along I've stubbornly insisted on the robot being really fast. It can run into walls much faster than any other robot! So... I am going to finally give up on speed and may even gear it down another 3X.
I shall name him Pokey. :)
Only 4 days and two hacking sessions left to pull all the pieces together. Quite a cliffhanger, eh? I can't wait to see what happens...