A Sparkfun Fio v3 board with motor driver and DC motors, paired with XBee modules, is controlled by ROS registered in the PC. The car comes with speed encoders and IMU sensor, such that a specified distance and turning angle can be specified by the control command. In the PID controller, only the steering angle is controlled, where the forward distance is fixed to 20cm. Due to the discrete control nature, the trajectory appears to be zig-zaggy.
