I am using the 32U4 with the example maze solving code. The jumpers are in place and the maze is white background with electricians tape for the lines. The robots solve the maze fairly reliably. Occasionally they get confused in intersections and it looks like they are not completing the 90 degree turn. In replay, I have not had a successful replay yet. On one maze, the simplified turns displayed was clearly wrong and on another maze, the robot gets off at an intersection (seeming to try to make a 45 instead of a 90 degree turn.
I dont know if it is related but there seems to be some drift in the gyro. If I leave the robots after calibration, the numbers start around 0 but migrate to larger and smaller numbers. They do this at different rates - one moves by one every 10 seconds and the other moves every 2 seconds. is that expected?