Week twelve was dedicated to working on the control system for the robot as well as the specifications for the two masses (the ball and the mount). I decided that the two masses should be about the same mass to allow enough contact and friction for the motors and the ball. This will also allow the wheels to have some slippage if needed. AS for the control system i decided to use a negative feedback loop using the sensors, dragonboard, and the motors. At the end of the week I finished setting up the dragon board, except for the GPIOs.