Summary
In this chapter, you learned how to use the encoder more usefully. You looked at how to use wheel geometry to convert encoder pulses into metric measurements and then used these measurements to measure speed.
Once we can measure speed, we can use a PID to control the speed of each wheel and see significantly less veering.
We could then take this to the next level and drive a specific distance at a specific speed, providing fully controlled motion.
In the next chapter, we will connect an IMU to our robot so that we can measure a compass heading and control the robot’s direction.
