Since I only have 1 motor encoder would you suggest using the internal encoders on the motors for left and right then the shaft encoder for a back tracking wheel?
Sure
So I understand inverting the cos and sin, but how do I get the overall global coordinates using both tracking wheels and the inertial from this?
Pretty sure what I’ve said will work
What would make this not successful? If I center the inertial over the tracking wheel shouldn’t it work? I just heard of odometry this year so I’m very new to the idea.
Your robot doesn’t really travel in straight lines in real life. If you are turning at all, the motion is much better approximated as an arc, since an arc represents a constant rate of change for all sensors.
Okay thank you this makes sense now! If in autonomous I use no movements like arcs and just forward, backwards and turning would tracking it as lines be consistent enough?
No idea. That’s something you’ve gotta test for yourself.
