Summary
In this chapter, we used encoder sensors on our robot to determine how far each wheel has turned. We programmed the robot to stop at target distances, then combined encoders with a PID controller to correct the robot's path. We then took the calculations further to calculate driving through a curve in terms of wheel movements.
You've seen PID controllers react to a difference between a sensor measurement and expectation by generating a control signal.
We also explored storing configuration so robot settings can be adjusted from our browser or phone.
In the next chapter, we are going to do even more with our encoders. We are going to see how a robot can guess its position in a space from these encoders!
