Chapter 7. Controlling Speed and Direction

This chapter covers the principles of robot motor control that apply to both two wheeled and four wheeled platforms. The motor controller hardware is explained, as is the code used to make this functionality accessible to the sketches. The second half of this chapter (Software Architecture for Robot Mobility) describes software modules that frees the sketch logic from a dependency on any specific motor hardware. All sketches use the library named RobotMotor that provides a consistent interface to the hardware specific motor system. An optional software module named Move provides high level functions to move the robot that simplifies the code in the more complex sketches that follow in chapters to come. ...

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