Build and evaluate library on naisduino B board for implementation on mobile robot

Microcontroller ARM Cortex M4 has many features and advantages that can be used for embedded applications and mobile robot development. With many of the features that make programming for this type of microcontroller more complicated and requires a long initialization. Therefore this research aims to build a library to facilitate the making of a mobile robot. The library is built on open source IDE software that has a lot of community support. Another goal is to complete the library that is not yet available on the IDE software used. Mobile robot libraries that have been created are inverse and forward kinematic calculations, and odometry calculations that receive input from the encoder pulse from the differential robot wheel, three wheels omnidirectional robot and four wheels omnidirectional robot. From the results of odometry testing on three wheels omnidirectional robot obtained an average error position of 6.92 cm from the target. And from the test results odometry on four wheels omnidirectional robot obtained an average error of 4.56 cm of the target position. Being from the optimum level testing of the compiler used, it is found that the optimized level of Os has the smallest flash memory size and for performance, the optimized level of O2 and O3 has the fastest performance.