MAE 106 is project-based course with the end goal of creating an autonomous rover.

The specifications required the rover be pneumatically propelled, fit within a certain volume, and use the provided electronics.

Each member in the teams of ~4 had to choose a role for the quarter (10weeks). The roles were Mechanical, Electrical, Control, and Experimental. I chose the control role to develop my knowledge of control theory and programming.

In the end, design flaws kept our rover from being able to propel itself properly. However, the controls I designed did prove successful in its ability to recognize its heading and correct its steering towards the intended checkpoint heading. 

I also designed and printed several of the parts of the rover involved in steering and structural supports.

Full Arduino sketch