Cluster Bot lives! First run of Arduino/Tamiya/Toshiba robot..
ClusterBot is assembled and I've written some rudimentary Arduino code to get it up and running. I wrote some simple subroutines for basic maneuvering like rotateLeft(), goForward(), goBackward(), applyBrakes(), turnAround(), etc. to make programming the bot a little easier. The robot is performing fairly well, with some limitations. First of all, the robot is stupid. No active sensors at this time, ClusterBot will simply go exactly where you tell it, with no obstacle avoidance in place. I had to spend a little time getting ClusterBot to track straight. I've got no physical way to do a front-end alignment on the robot, so I tweaked the goForward() and goBackward() functions by changing the PWM values until the bot tracked relatively straight. It's not crucial that it's perfect with this robot, but when I first ran ClusterBot, he would move in arcs instead of lines. I'm not sure if the robot is not tracking straight because it is physically crooked, the weight i