Picking up where I left off around a year ago, the battery is screwed so rigged up to the charger from MacFeegle Prime to power it for now.

First up I’m getting the motors working again and after that I’ll get the encoders on the wheels working. The encoders will allow me to measure the speed they are turning at so that the two sides match. As the motors are simple DC motors we give the controller a percentage and they spin. With feedback from the encoders we can implement greater control.

Another use for the encoders is odometry, we can keep track of how many rotations have occurred and coupling that with the circumference of the wheels we can measure how far the robot has moved. This is incredibly useful for mapping and navigation.