My new linefollower project is coming along nicely. Now the family is back, but I've got my project board w/ an ATMEGA162 MCU and HBridge wired up which is controlling both motors now.
I put the robot on the floor for a little test run (no wheel encoders yet.) Overall I was pretty pleased with the flat out speed of the bot and the ability to control speed of the motors w/ locked anti-phase PWM. But I can see that there are some issues:
- The wheels quickly lose traction on the painted concrete floor of my basement.
- The rear wheel doesn't turn and influences the direction of the robot (especially in reverse!)
The batteries are mounted toward the back of the bot. I probably need to move the over the front wheels to help with differential drive. I may need to replace the wheels with wheels of larger diameter (Currently about 1 1/2" in diameter, maybe go up to 2 1/2".)