... | ... | @@ -249,10 +249,14 @@ We then calculated the number of rotations in degrees, since this is the require |
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In order to turn the facing of the robot 90 degrees, we would turn one wheel 180 (in reality 190 degrees) in one direction and the other wheel 180 (again 190 degrees, due to the motors) degrees in the opposite direction. To turn the facing of the robot 180 degrees, we would turn each wheel 360 degrees in opposite directions.
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Diameter * Pi = circumference
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81.6mm * Pi = ~ 256mm
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Distance to cover / circumference = number of rotations
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Distance of turns: 380mm / 256mm = 1.48 ~1.5 rotations
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Distance of the long side of the track 1850mm / 256mm = 7.22 ~ 7.2 rotations
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We also did two small experiments to make sure that the mathematical theory was correct, as there is always the chance of the electrical motors being inaccurate because of wear and tear.
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