![]() ![]() ![]() In this case 720degrees or two full rotations.ģ0 Autonomous Programming How far does the Robot travel? - Method #1 The distance the robot travels, depends on the amount of rotations (revolutions or degrees of rotation) the motor axel makes, and the size of the connected tire - wheel.! We can use simple math to calculate the distance a wheel travels and express the distance traveled in mm / degree rotation.! If the wheel diameter = 200mm then:! Circumference of Wheel = Pi * diameter = 3.14 * 200mm = 628mm! Does 360 degrees of axel rotation = 628mm travel distance! 1 degree = 628 / 360 = mm/deg for a 200mm diameter wheelģ1 Determining mm/deg Wheel Diameter in mm 200mm 180mm Circumference! (Pi * 2 * r) mm/deg! (Circumference / 360) insert pictures of wheelsģ2 Autonomous Programming How far does the Robot travel? Method #2 Alternate method to determine distance travelled per degree rotation:! Drive your robot 2 rotations forward three times measure the distance each time, and average the distance. 29 Autonomous Programming Solution #2 Code for the LEFTMOTOR Code for the RIGHTMOTOR Notice, we have switched the spin block to one which sets direction as well as the length (revolutions in degrees) of the wheel turning.
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