I have not yet been able to think of how to give Picobot a general maze solver. Here's my latest attempt: It will solve all the given mazes in most cases, not all:
Here's a case where it does work. And now one that doesn't (that's as many grey squares as Picobot will ever get):
I guess I'll leave it to you to figure out how it works as I don't want to just give it away, but it is based off a maze solver; Picobot follows the left wall.
Finally, triangles have been (sort of) implemented in my raytracer. Well; not really. This one's hardcoded in. But it's there!
I should be able to finish those this coming week...