The work of the previous week was carried out during this one:
- The skeleton of the thesis was improved and some pictures, tables and diagrams were introduced in the Latex template;
- The code was also improved: timer interrupts were conflicting with PWM pins and therefore the timer was integrated with PWM; also the I2C code was changed to transfer only two integers via I2C, instead of a string (the code had some changes because it can only be transmitted one byte at once).
- A new Arduino Micro was ordered and a new PCB (with sockets to facilitate the replacement) was made to integrate the Arduino when it arrives (Figure below);
- Some tests were perfomed with the remote control. The ROS tutorial to control the turtle bot with the remote control was made.