The trickiest parts of the project were working with the motor driver and the line sensing camera, since we had to write RTOS code that interacted with them from scratch, including generating the clock, exposure, and data reads from the camera. Further, we found the motor driver ICs to be quite finicky and rather easy to inadvertently burn out.Â
Once we had those fundamentals working, we implemented feedback control for the speed and steering of the car. In the end, we were able to achieve the second fastest lap times in the class!