Well it made its first corner, video:

Go to http://www.youtube.com/watch?v=5a4zVuxzEdg for the HD version.

And here is the data from that run:

The todo list is as follows:

• Retune controller (there is some nasty overshoot and the control signal itself is oscillating)
• Calibrate the speeds – left and right wheel have different speeds (:() so need to go an work out the difference
• Automate this, cause it took all day to get to this point

Please note that this is a ‘jigged’ callibration – the long straight allows me to guestimate the required speed differences and ticks per meter, so not too precise at this point in time.