Hi Boliven,
it is easier to understand your english Text then the Google translation.
The Problem ist that the Mower ist not drive straight a line it drives allway i Curve, like that one http://www.ardumower.de/index.php/de/forum/antrieb/1027-geradeausfahren#9996
and i think the odometry can correct it.
The PID part a have understood, i think, but that have no part of driving not straight a line.
Stefan
it is easier to understand your english Text then the Google translation.
The Problem ist that the Mower ist not drive straight a line it drives allway i Curve, like that one http://www.ardumower.de/index.php/de/forum/antrieb/1027-geradeausfahren#9996
and i think the odometry can correct it.
The PID part a have understood, i think, but that have no part of driving not straight a line.
Stefan