Now that Decimus has all its bits fitted, it is time to get on with the more serious business of driving it about. The basic code for the motor PWM driver has been tested and suitable drive commands can be sent to them. Since this is a PWM system, a motor command is effectively a percentage of the battery voltage applied to the motor. The encoders produce about 26 pulses per millimeter. This has yet to be calibrated. A very simple speed control has been implemented for the first test.