Dropped the ATMega32 control board, now using a WiringIO board with custom perfboard IO breakout header, will do a proper PCB a bit later once it is all working.

Finally got time to finish the odometry and basic way point system. It still has a pretty big error, but some more tinkering should fix that.

Renoster has 4 Lynxmotion GHM-15 gear head motors each with a hall effect quadrature encoder. The quadrature encoders outputs two square waves 90 degrees apart (see Fig. 1) as the motor turns. Using these signals one can determine the speed and direction of the motor and from that the robots relative movement.

A quick summary of how Renoster started and where it is going.