Arobot Android app is the movement controller for the robot system.

We can control two axis, left and right. The velocity of two axis are calculated based on the position and movement of Android phone. The signals form internal sensors are evaluated , filtered and calculated to velocity commands. The commands are transferred to robot actor utilizing the proper protocol. 

As option it is possible to control the velocity with manual position of two sliders.

 Sensor movement fragment

The sensors: acceleration, gyroscope and magnet field are scanned . The values are filtered and calculated as defined in the Sensor Fusion calculation published by

David Sachs from MIT and Paul Lawitzki on CodeProject

The steering wheel visualizes the values of commands.

Manual movement fragment 

The positions of the two sliders, left and right, define the velocity for both axis. The middle position correspond to velocity = 0