In this chapter, we have seen how to incorporate wheel encoder sensors into our robot, and used them to determine how far each wheel has turned. We've seen how to use this to get the robot onto a straighter path using a reduced PID Controller and then used this to drive a specific distance. We then took the calculations further to calculate turning a corner in terms of wheel movements, and drive the robot in a square.
In the next couple of chapters, we will be exploring giving our robot even more interactive and intelligent behaviors, with chapters on visual processing using a Raspberry Pi Camera, speech processing on a handset with MyCroft, and adding a gamepad to the handset to remotely drive or select modes on the robot.