By Eduardo Contreras – Computer, Power, and Powertrain
Here is the final code needed to run the rover with Arxterra. The highlighted lines are the new changes I made in order for it to work with the updated version of the Adafruit Motor Shield, as well as for the motors replacing the servos.
Personal Note: I strongly believe that this way of running the rover over Arxterra is inefficient. The amount of code needed so that the motors act like servos is a bit excessive. Each chunk of code can be replaced by two lines that will do the exact thing. Also, the servos can hold position more efficient than a motor can, since it can’t hold to begin with. The added code used so that the motor can stay still work, but jittering causes problems. The tilting works very well, but it’s better to stick with servos.