Learning Robotics using Python - Second Edition

Block diagram of the robot

The robot's movement is controlled by two direct current (DC) gear motors using an encoder. The two motors are driven using a motor driver. The motor driver is interfaced with an embedded controller board, which will send commands to the motor driver to control the motor's movements. The encoder of the motor is interfaced with the controller board in order to count the number of rotations of the motor shaft. This data is used to compute the odometry data of the robot. There are ultrasonic sensors that are interfaced with the controller board in order to sense the obstacles and measure the distance from the obstacles. There is an IMU sensor to improve odometry calculation. The embedded controller board is interfaced ...