For smooth transitions, we implemented a line-following condition, an object detection algorithm, and stopping command. We converted the sensor readings into voltage outputs desired for the servo motors. 

We faced a mechanical complication on the MoBot. One of wheel experienced less friction along the axial, meaning the wheels on the right side of the rover would rotate more than those on the left side, preventing perfectly straight movement and causing drifting. Our solution was to time how long the rover would take to go through each obstacle, and have RPM conditions that changed based on time. 

On demo day, the MoBot finished the course in 1 minute 44 seconds. If given a second attempt to try the obstacle course again, I would use a PID system instead of the simpler “If…then…” statements that we used. To resolve the inconsistent rotation of the wheel, I would try greasing the axial of the wheels to reduce the friction. If the problem persisted, I would add some sort of thin fabric or sandpaper between the wheel and the axial to apply a even friction on each motor.