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Student /
Lab1Part5First researched the mathematical relationship between the speed of the two wheels and the radius of the turn created by the robot!! woot! So... try to follow this (I will add some lovely diagrams later, when I learn how) You have a circle with a radius of r, which is measured from the middle of the circle to the center of the robot. When your robot traces this circle, one wheel is on the outside of it, and one wheel is on the inside. Imagine your robot, and the distance between the two wheels. This distance is 2W, and the distance between the center of the robot to one of the wheels is 1W. The circumference of your circle is equal to 2pir. But since one wheel is on the outside of the circle, and one is on the inside, they aren't tracing exactly that value. Instead, the inside wheel is tracing 2pi(r-W) and the outside wheel is tracing 2pi(r+W). In order to calculate the speed at which each wheel is travelling, simply divide each value by time, t. So the speed of your inside wheel is [2pi(r-W)]/t, and the speed of your outside wheel is [2pi(r+W)]/t. Does this make sense? I will put up some nice diagrams to clarify what I mean. Anyways, you can calculate the speed at which each wheel should be turning in order to get a specific radius! This is as far as I have gotten, but I'll have more up later... so check back! -From Team 3 |