The Magic Bombo mark 2 was created as my thesis project about modelling and controlling a mobile robot.
The main task is following a line using a standard PID controller.
It can also plan a path and tracking it, this task allowed me to optimize parts of the race course.

Unfortunately Pololu encoders allows to read only 12CPR on motor shaft, so odometry isn't perfect at high speed. On new model I solved this issue using AS5171A encoders. 

Race Course Telemetry

Path planning and tracking