This week we started working on the motor control on our arduino. We are using the arduino software to write the code and our robot has successfully moved front and back. After testing, we realized that the wheels, although programmed to have the same velocity, are slightly off and the robot drifts to the right. We are accounting for this error by setting the left wheel velocity to be lower than the right wheel as well as using feedback from our encoders to help correct the issue.
A short clip showing our robot moving can be accessed below. Note that once the heavy components are placed the body itself won’t rock forward.