Shown at left is the robots initial turn on appearance. As I add instruments to the top plate, the appearance will change and I will update this image.
Well, the results so far are not as expected! While I am able to control the speed of each wheel and slow down the faster one such that the robot will travel in a straight line, this process takes a few seconds and every time the robot starts and stops especially initially, it is moving in a curve. There is no way to sense the wheel speed and correct for it right off the start such that the robot always goes exactly straight. The solution is to dump the dual servo drive and replace the drive with a system that will always go straight with no input from the sensors or changes in motor speeds. Such drives exist, and I will be perusing them next.