Quote Originally Posted by dragons_fire View Post
the motors are just regular brushed motors, they have a gear ratio of 298:1 which equals out to 71RPM and 30oz/in of torque. im using a serial dual motor controller, and with the hall sensors, i should be able to adjust the motors to get it to move straight forward...

my big issue, is that it will turn better on shiny hardwood, than it will on carpet, so if i tell it to turn 90*, it will turn 95* on wood, and 80* on carpet.. what i was thinking with the IR link, was to have 3 transmitters around the room, and then have 16 (or more) sensors around the top of the bot, and it could somewhat triangulate where it is by the angles to all 3 transmitters. it could do that maybe every 5 minutes, just to make sure its where its supposed to be...
Motors - That kind of gear ratio sounds a bunch better than direct drive. Should be able to keep track of that fairly well.

Turning/mapping/whatever - too bad a guy couldn't 'easily' add a circuit like an optical mouse. Ya get 2 of those, one at the front in the middle, one at the back in the middle, you can do some math to figure out how far the 'bot actually turned.

This could turn out to be a lllooonnnggg thread...