I tried to let robot run forward, then backward.Unfortunately the robot does not run straight from start.
Youtube video "No more caterpillar robot runs without sensors ..." says it all, lost motor cable in that run:
Before that run I did record video with old Andoid smartphone, from our living room catwalk 2m above ground. That way the video capture a goode area of floor. Playing video in mplayer it says 15fps, and these are 5 single frame steps from initial frame (top rght), all copied into the first frame image:
These 5 frames allow to compute the speed as 3.3m/s or 11.85km/h (floor tile width is 31.5cm):
$ bc -ql
sqrt((3.25*0.315)^2+(1.25*0.315)^2)/(5/15)
3.29058173048474819373
sqrt((3.25*0.315)^2+(1.25*0.315)^2)/(5/15)*3.6
11.84609422974509349742
So next step is to keep motorshield v2, but switch it to 3.3V logic.
And to exchange Arduino Uno with Arduino Due.
And and use sensors:
Details on the setup were posted here.
Hermann.