In the video you can see that the robot stays at roughly the same spot on the floor and handles a lighter push without any problem. To achieve this I have two cascade PID controllers and low pass filter on both wheel speed and the robot's angle.
Having one of those days where your too lazy to do anything? Have a robot doodle for you while you sit back in your favorite chair. This is a very simple drawing robot that was actually started by one of our student engineers. I just made the base plate bigger so I could add a third servo to raise and lower the pen.
My base plate is laser cut acrylic but it could easily have been a small food container, CD or a piece of wood. Just use some double sided tape or hotglue to hold it all together.
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