Future Implementation

To enhance system performance and reliability, several improvements can be made:

Voltage Divider: Implementing a voltage divider circuit to scale sensor voltage readings to appropriate levels for the microcontroller would ensure accurate and safe signal acquisition. This issue became evident as motor effort requirements varied with battery charge, affecting PID control consistency.

Bluetooth Communication: Integrating a Bluetooth module to enable remote control and testing would ultimately improve system monitoring flexibility and interaction.

Bump Sensor Enhancements: Configuring the bump sensors as analog inputs to allow for a pre-programmed maneuver sequence would have enabled the robot to navigate around the wall between checkpoint 5 and the finish.

IMU Integration: Fully utilizing the IMU for enhanced orientation tracking and stability control would improve navigation accuracy and responsiveness in dynamic conditions. This approach would have been significantly more reliable than relying solely on encoder ticks and would have facilitated reaching checkpoint 5. An alternative main program was developed to toggle between IR and IMU sensing when needed but was not completed.

Scheduler Optimization: Enhancing task scheduling by refining priority assignments and execution timing would reduce latency and improve overall system efficiency.