This week we got a lot done!
We switched over from two omniwheels to one swiveling wheel at the back to reduce friction. We got our servos to finally turn 180° by using our Arduino instead of the SR-Servoboard. We did some touch-ups to the bots inertia (some of which were to accompany the change in wheels).
And last but definitely not least, WE GOT OUR BOT TO EXECUTE main() FULLY!!!
Take a look: