The first task in this lab was to solder the two DRV8833 dual motor drivers to the Artemis board. This was a bit challenging since we are using the dual motor driver to control a single motor each, meaning I needed to solder the AIN1 and BIN1, AIN2 and BIN2, AOUT1 ane BOUT1, and AOUT2 and BOUT2 pins together. I did this by soldering a wire to partially stick through the board's hole and then bending it around to solder it to the corresponding A/B pin. To check my soldering connections and also verify the functionality of the drivers, I sent a PWM signal from the Artemis board and scoped the output of the drivers. I sent a PWM of 100 (roughly 50% duty cycle) and also 253 (almost 100% duty cycle, but still has a dip to differentiate it from zero) using the following code where pwm is an int variable:

analogWrite(6, pwm);
analogWrite(7, 0);

Here are photos of the scope setup, where the driver is powered by a 3.7V power supply to emulate the 3.7V battery used in the robot, as well as the displayed oscilloscope results:

Here's what the first prototype of my robot looks like, with zip ties and tape to hold the sensors, drivers, battery, and Artemis board in place:

I found that the left motor of my car tended to spin a bit faster than the right motor, causing my car to veer right when it attempts to do straight-line pathing. Thus, I sent a slightly lower PWM value to the left driver in order to offset this bias. Here is the code I used and a video of the straight-line test:

analogWrite(6, 0);
analogWrite(7, 68);
analogWrite(12, 65);
analogWrite(13, 0);
delay(16000);