In order to generate a program that drives the eyebot in a maze
the following steps are required:

1. make maze_drive
2. dl maze_drive.hex
3. start program on robot
4. enter goal coordinates

important:

There were still problems discovering the maze while driving. Therefore the 
maze must be known to the robot on program start. The maze can be found in
Procedure erase_maze.
default maze is
 int empty_maze[X_MAZE][Y_MAZE]={
  { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1},
  { 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1},
  { 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1},
  { 1, 0, 1, 0, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1},
  { 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 1},
  { 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1},
  { 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1},
  { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1},
  { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}
  };

How position coordinates and maze representation work is explained in readme.bmp

Norman Apel, UWA 2004