This week I spent time continuing the odometer calibration of the iRobot Create and also getting myself familiarized with writing programs using the ROS system to control the robot's motor skills. I had to calculate the Average Drift per Theta for the robot's forward motion & also the rotaional motion.

Below are pictures of me doing the measurements of the Average Drift per Theta:





This calculations were based on me having the iRobot run experimental forward motions 10+ times for several different distances.

For the rotational measurements a constant theta turn of 360 degrees was used & this was tested 10+ times as well.