A state space diagram was made based on the description given in the problem statemend and the discussions we have had to solve the problem statement. We created '.h' files to create modules and write the functions required to implement the state space diagram. The final state space diagram was implemented in the '.ino' files. The code has been included in the final report.

All the modules and the .ino code can be downloaded from the git hub repository. Please feel free to use them if you want to build your own cool robots. As Tom Kenny says, it is a joy to see our designs being replicated by others

As far as the control system for the drive assembly is concerned, we decided to use PID control system. We used the difference between the tape sensor values as the error and tried to determine the Kp Ki Kd values empirically.