After consulting the 3pi user guide online, I managed to control the two DC motors and set speed accordingly. At the time being, I haven't mount mbed on it, so I used the external AVR ISP programmer to program the microcontroller included in the robot (ATmega328p).
The robot is now able to move zigzag, which is the desired behavior we'll use to cover an area. It's realized by setting appropriate speed of two motors.
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