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Code for a quad-base path following robot, using

  • Hercules motor driver
  • Mecanum wheels
  • Cytron LSA08
  • Ardunio ATmega 2560

A rough orientation/layout of the robot is as follows:

                   70      0
                 +-----------+
                 |   LSA 1   |
       +---------+-----------+--------+
       |                              |
   +---+                              +---+
 0 | L |                              | L | 70
   | S |                              | S |
   | A |                              | A |
   |   |                              |   |
70 | 3 |                              | 2 | 0
   +---+                              +---+
       |                              |
       +------------------------------+

The bot has to follow a path and move left, right, etc. whenever a junction is encountered. The bot should not rotate, rather use mecanum wheels to its advantage. This way, the bot should complete a run in a path / maze without ever rotating.

The path isn't hardcoded here so that there's extensibility for others.