This week we continued our work on the motor control and after cutting back from 4 interrupt pins to 2 as well as increasing the feedback we got the wheels to run much smoother. There is still some fine-tuning to do but this works for now. A huge success this week was completing the assembly of our test arena, modeled after the exact arena used in the Trinity Contest. Photos of our arena can be seen under the photos tab. Lastly, the compressed air fire extinguisher was mounted on our robot as well as the servo motor used to release the air from the canister.