Como fazer o robô se mover com precisão? Visão geral e recursos da robótica da plataforma Studuino

#define M1_A        2       //   1   1
#define M1_B        4       //   2   1
#define M1_PWM      3       //       1
#define SENSOR_PIN  A4      //     IR-sensor

void setup() {
  Serial.begin(9600);       //      
  pinMode(M1_A, OUTPUT);    //       " "
  pinMode(M1_B, OUTPUT);    
  analogWrite(M1_PWM, 100); //    
  digitalWrite(M1_A, HIGH); //    
  for (int i=0; i < 2000; i++) {    //   2000    -
    Serial.println(analogRead(SENSOR_PIN));   //      
  }
  digitalWrite(M1_A, LOW);  //   
}

void loop() {
}

#define M1_A        2       //   1   1
#define M1_B        4       //   2   1
#define M1_PWM      3       //       1
#define SENSOR_PIN  A4      //     IR-sensor

#define MIDDLE      550     //         
                            // ""
#define WIDTH       50      //      ,   
      //    -     
      // 

int enc_tooth = 0;          // ,    
int cur_state = 0;          //   :  (1)  "" (0)
int prev_state = 0;         //   
int tmp;                    //      

void init_enc() {
  enc_tooth = 0;
  cur_state = 0;
  prev_state = 0;

  //         cur_state
  //    ,   = 1,    ""      
  //   0      
  if (analogRead(SENSOR_PIN)>MIDDLE) {
    prev_state = 1;
    cur_state = 1;
    enc_tooth++;
  }  
}

void wait_by_count(int count) {
  //       count,       IR 
  //           ""
  while (enc_tooth <= count) {
    //    IR-    
    tmp = analogRead(SENSOR_PIN);

    //       +  ,    
    if ((tmp + WIDTH) > MIDDLE) {
      cur_state = 1;
    } else {
    //       -  ,    ""
      if ((tmp - WIDTH) < MIDDLE) {
        cur_state = 0;
      }
    }

    //       ,      
    // ,     ""   -  ""  
    if (cur_state != prev_state) {
    //   ,   0  - ,     
    // 
      enc_tooth += cur_state;
    
    //        
      prev_state = cur_state;
    }
  }
}

void setup() {
  //        
  Serial.begin(115200);

  //        ""
  pinMode(M1_A, OUTPUT);
  pinMode(M1_B, OUTPUT);

  //   
  init_enc();

  //    
  analogWrite(M1_PWM, 100);
 
  //    ,      1 (    
  //  0)
  digitalWrite(M1_A, 1);

  // ,    30  
  wait_by_count(30);
  
  //   
  digitalWrite(M1_B, 1);

  Serial.print("  = ");
  Serial.println(enc_tooth);

}

void loop() {
}