The point of the wheel where the diameter is largest would naturally be at the centre point, at 0,31cm/2 = 0,155 cm
The True Track Width with the slim wheels was therefore calculated as following:
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@@ -99,3 +100,14 @@ Play in the wheels is a non-systematic error, as it is determined by chance and
## Calibrate the wheel diameter and the track width
To calibrate the robots travel distance according to the wheel diameter we modified the code from PilotSquare.java as follows:
```
pilot.travel(50);
show(poseProvider.getPose());
```
##### Fig. 11 - Codesnippet from PilotSquare.java
This code should drive the robot forward 50 cm’s. In order to get accurate results the robot was placed on a paper with a grid layout and markers for each 25 cm’s. By doing this we know that if the robot is calibrated correctly it will stop after two lines corresponding to 50 cm.
