Functions for basic motor/wheel control of differential drive mobile robots
using MotorShield L298P on Arduino UNO. Implemented in C/C++

• low level controller/actuator functions for basic motor control

• higher low-level commands using rate, time, distance units for motion control

• supports odometry using interrupt driven IR wheel encoder sensors & encoder wheels for TT-Motors

• has an auto-prime function that can kick-start TT-Motors into rotation
  when stalled and not enough current to escape resting inertia at low velocities

• versatile functions with intuitive semantic interface

• wheel odometry using Runge-Kutte approximation
  with serial terminal output of runtime results from implementation of
  ICR - Instananeous Center of Rotation - equations

Example from unicycle.c

Unicycle movements with a differential drive robot

Use the wheels function to create a unicycle function that limits the
motion of the mobile robot to that of a unicycle

   unicycle(FORWARD, 25, 4000) // go forward at 25% for 4 seconds
   
   unicycle(SPIN_LEFT, 5, 2000) // spin (+) with rotational velocity (phi-dot) at 5% for 2 sec
   
   delay(4000)
   
   unicycle(FORWARD, 25) // move forward @ 25% continuously

   unicycle(STOP) //same as  wheels(STOP,2000)
   delay(2000)