Now that the first version of NavBot is complete it is time to think about how to scale things up… and an 8 bit Atmel microcontroller is not the answer.
How to test and modify the PID coefficients for NavBot’s Pilot.
Short video of the Pilot’s first movement tests.
It’s alive! Kind of….
Put together a quick and dirty dead reckoning experiment now that the encoders and PID controller are working. Very happy with the results, even if they are superficial.
With the encoders working it’s time to tune the PID controller for driving in straight lines.
Finally completed the Zumo build, code and all. It was way more work than I bargained for.
Ended up adding a second microprocessor (The Trinket) to handle sensor and servo functions, implemented an I2C slave and wrangled new interrupt-driven servo code.
Completed the Zumo hardware side and got the encoders working but then hit a road block trying to get the motors to turn…