There have been a few changes since the last update.
The radio control has been removed due to it being unreliable.
The Omni base was changed to a differential control.
A Raspberry Pi running ROS is used for control.
The Omni base had one really major problem the motor gearing was too high the RPM should be around 50 RPM these were 200RPM. with tight wheel angle, the motors would stall due to lack of torque increasing the power resulted in a jerk and rapid movement. The cheap motors were structurally week and flexed this was a bonus as it acted like a suspension. When we swapped the Omni base for a differential drive with wheel encoders, the movement problems came down to tuning. The cheap servos I had laying around are very noisy and tend to jitter they will need to be replaced with better one if this project continues
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