Post #2605032

I'd really like to wrap the low-level (motor on for so long, at such and so PWM duty cycle) stuff for this robot with higher-level absolute drive stuff (go in this direction for this distance), which I could try to do with more characterization of the drive train (and indeed this would be an interesting exercise regardless) but of course this is skid steer, so consistency is not is strong point. I'd like to do some kind of odometry, and an optical mouse sensor mounted on the bottom seems like the natural candidate for this...