This video showcases some of the issues currently being worked on. The robot can navigate the hallways properly but has some difficulty properly aligning with the candle and keep moving straight towards the candle. Another major issue is from the video you can see that the fan had to be manually started because of an issue with not enough current being diverted from the board to the fan motor, preventing the DC motor from self-starting like its supposed to. To try and fix this issue, a battery with a higher amp output is currently being tested with the robot.
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