Ken is working on closed loop speed control. This system involves measuring the speed of the robot and feeding back the information for the main computer control to control the speed and the direction of the robot. Various Proportional Integral Differential Controllers are being studied to be used in the implementation. I have already configured and use the gammoto PID found at http://www.gamatronix.com/product_info.php/manufacturers_id/10/products_id/28. I am also working with John to change the PMW coming from the handy board into an anolog output to drive the hub motors. Essentially John and I working together.
