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Moving Robo in straight line

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Vikky

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Hi all,

With reference to my earlier thread, now in my design i made the closed loop system using the opto coupler to check the speed of the motor.

With the help of the opto-coupler i am counting the no. of holes the wheel has passed in fixed amount of time and same sequence is repeated of the second wheel. By generating the deifference i can get which motor is moving faster than the other and on the basis of calculation i make the other motor to either increase or decrease the its speed by controling the PWM supplied to it.

But still at the last end i could easily found that the Robo has deflected from its path!!:confused:

Can anybody let me know the programming for the control or else provide me the flowchart for controlling the motor??
 
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