This structure means you don't need to calculate individual PWM duty cycles for left and right wheels. You simply tell the robot: "Move forward at 0.5 m/s" or "Turn left at 30 degrees per second." The firmware handles the differential kinematics math on the fly.
automoto-firmware is open source under the MIT license. We are looking for contributors—whether you are an embedded systems guru looking to optimize our ISR (Interrupt Service Routines) or a hobbyist testing it on a new chassis. automoto-firmware