Debugging the Adapters and RPM

I had noticed that one of the motor’s LED’s kept flickering on and off, and decided to remove the part to isolate the issue. I found that one of the cables was loose, and there wasn’t an easy way for me to fix this without risking melting the plastic off. So, I placed an order for new cables.

I also started working on RPM calculations because Colosseus needs to know how fast it’s going. I’m using a timer that repeatedly calculates the displacement in rotation, which is needed to calculate rotational speed. So far, I just have a small demo of this working, but I plan to use this later in a feedback loop to regulate the robot’s speed.