Homer, our robot, gets a little intelligence!
Finally got a little time this week - weekend to work on our robot project. This is a video of steering stabilization for our tracked robot. We're using compass angle as the source for set-point and input for moving correction. After lots of experimentation with localization possibilities, I felt the ability to maintain a stable heading with a track robot was an absolute necessity for localization based on dead reckoning. So here's our solution. This is our working draft code. We tried to make it as simple and fast as possible.