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Through this experiment we learned that gearing the motors causes significant problems to the robots path. The robot has no problems accelerating to it’s maximum speed, however if the robot experiences disturbances on it’s path i.e a small bump, the robot will go into a spin. What happens is that the high speed combined with low friction causes one of the wheels to slide (with the same speed) while the other wheel tries to catch up to the other. This behavior can all be seen in the video:
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[![image alt text](http://img.youtube.com/vi/SYBlxdFIxUY/0.jpg)](http://www.youtube.com/watch?v=SYBlxdFIxUY)
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Fig. 2: Video showing the robot go into an uncontrollable spin after a small push. First to the right, then to the left.
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We can conclude that gaining momentum is not necessarily an advantage for the robot as it comes with a cost of increased vulnerability to its driving behavior. If we were to maintain control of the robot, it would require a significant amount of code to prevent the robot of going into a spin. This could be done using a PID controller to perform frequent corrections to the power distributed to the wheels.
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