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Since I'm doing this with a PWM signal, the motors are running at full torque no matter what speed they are being told to go. I can go forward and reverse so I can "tank steer" it
Also a note that motor torque, under PWM, remains the same whether fully on or only a percentage on. However, varying voltage for speed control reduces torque. So with PWM you have maximum torque yet slower speeds!
Nice.Looks like it's having a few issues trying to turn in-place over some terrain. Are you giving those motors full power?My robot also liked to flip over objects that are too tall. It was bad for me because it was snapping off the communications antenna and possible damaging the GPS antenna. I added a 3 axis accelerometer and some code where if it detects itself starting to crawl something too high, it would stop. You can also use the information to determine if the sonar data is false because the robot is angled down too far.
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Mechanics and Construction
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