Drive Subsystem
The robot drives quickly in a straight line between Home A and Home B using voltage-dependent PD control. Inductive sensors are mounted underneath the robot to provide an analog signal proportional to how close the sensors are to the magnetic wire on the ground. Ultrasonic sensors are used to detect the distance to the home walls so the robot can either decelerate when it comes into home or stop before it enters home completely. Limit switches are mounted to the front and back of the robot to sense when the wall is reached and stop completely.