For this project, we were given a test track and the only premise we had was to build a car that was propelled by something that didn't leave a mess.
We decided to take this opportunity to fabricate a car that could take an input velocity profile using both an open loop system and a closed loop feedback system to test the differences.
The car utilizes a micro controller which interfaces with Simulink to run a PID controller and measure wheel speed via magnets embedded in one of the drive wheels, which trigger a Hall effect sensor. The open loop code pushes a velocity profile to the motor while the closed loop code incorporates the error between this velocity profile and the wheel speed feedback from the Hall effect sensor using PID to determine the output voltage pulse width modulation to the motor. We did much testing to prove the feedforward control matched the desired profile trends. However, the hardware did not provide adequate resolution for robust feedback control. Ultimately the car successfully tracked a desired input velocity profile on the roll car track.