SBOT pushing a vehicle

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Goal

My goal was to teach SBOT push a vehicle. SBOT have got 2 wheels (each wheel has separate motor). I have to check angle between SBOT and vehicle and set new speed for each wheel.

Hardware

I have to create a new hardware. Here is schema:

Hardware.jpg

Software

You can download software for my SBOT. pushing-sbot.zip

Demonstration

You can also watch a demonstration video on youtube.

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